Steel column bottom plate prizing-free downward insertion method based on diffusion type six-degree-of-freedom pose estimation

Abstract

According to the diffusion type six-degree-of-freedom pose estimation-based steel column bottom plate prizing-free downward insertion method, the performability problem of one-time prizing-free downward insertion of a steel column bottom plate under the condition that a porous array is in a limited space and disturbed is solved, a task window is established under a unified construction coordinate system, and bolt axes and hole centers are collected and registered according to array topology; predictive interference is eliminated through diffusion type six-degree-of-freedom pose estimation with insertion constraint preposed, an allowable insertion pose range tightened along with the height is generated according to clearance and safety margin, and a downward insertion channel and an insertion constraint set are constructed in a communicating mode; tubular model predictive control is established in a feasible region, bounded disturbance of wind disturbance and swing is considered, a nominal trajectory and a segmented speed limit value of a channel center are formed, input shaping swing suppression and online monitoring are implemented, and withdrawing and rapid regeneration control are performed along a channel when necessary; the method is used for installation of simultaneous sleeving of multiple holes in the steel column bottom plate, and has the beneficial effects that the minimum clearance is kept not lower than the safety margin, lateral contact and prying are avoided, and the forbidden area is not touched under the limited space and disturbance.

Description

Technical Field

[0001] This invention relates to the field of building construction, and in particular to a method for inserting steel column base plates without prying based on diffusion-type six-degree-of-freedom pose estimation. Background Technology

[0002] The installation of the steel column base plate requires the simultaneous insertion of the base plate's hole array and the anchor bolt array. Limited space on the construction site, adjacent components and tooling forming restricted areas, and wind disturbances and swaying during hoisting can easily cause lateral contact, scratching, and prying, damaging the threads and coating. To ensure the multi-hole array is positioned in one go, precise approach and insertion control are needed in this confined environment, while maintaining sufficient clearance to ensure safety, avoiding contact and jamming, and considering both attitude limitations and speed limits.

[0003] Existing technologies mostly employ manual visual inspection and crowbar-assisted alignment, combined with theodolites or laser measurements for planar registration of holes and bolts. Other methods utilize rigid body registration and simplified trajectory planning based on point clouds / images, followed by collision detection and obstacle avoidance. At the control layer, position tracking or general MPC is commonly used to limit wind disturbance and sway amplitude, but the insertion rules for simultaneous multi-hole insertion are not pre-defined as hard constraints for attitude estimation and control solutions. Some assembly scenarios introduce single-hole insertion or compliant assembly strategies, focusing on local contact compliance, but struggling to handle array row / column consistency and full-thickness gap clearing requirements. Overall, there is a lack of a unified construction coordinate system and task window constraint representation; attitude restrictions, restricted areas, and safety margins are handled in a scattered manner, and an insertion channel that tightens with height is not constructed.

[0004] However, existing solutions generally place the insertion constraint after the fact, and the registration and trajectory generation do not have endogenous clearance and safety margin determination, which can easily lead to lateral contact and prying at low positions; they have not established an executable channel that tightens with height, and the nominal trajectory and disturbance control are disconnected; when faced with confined space and wind disturbance sway, they lack a rapid withdrawal and regeneration mechanism within a unified feasible domain. Summary of the Invention

[0005] One objective of this invention is to propose a non-prying insertion method for steel column base plates based on diffusion-type six-degree-of-freedom pose estimation. Under the conditions of limited construction space and bounded disturbances such as wind disturbance and hoisting swing, within a unified construction coordinate system and task window, an insertion channel and insertion constraint set that tighten with height and do not touch the restricted area are constructed and executed. This allows the base plate hole group to be inserted into the anchor bolts in one go without prying and maintains a clearance of no less than the safety margin.

[0006] A method for inserting a steel column base plate without prying, based on diffusion-based six-degree-of-freedom pose estimation according to an embodiment of the present invention, characterized in that it includes:

[0007] S1. Establish the construction coordinate system and task window, read the base plate geometry, hole group size, bolt tolerance and safety margin, determine the approach height, speed limit, restricted area and attitude limit, and output the coordinate system and task parameters.

[0008] S2. Under the construction coordinate system and task parameters, collect the top surface and axis of the bolts, collect the center of the hole group in the base plate and the boundary of the base plate, and register according to the array topology to output the bolt array skeleton and hole group observation for pose estimation.

[0009] S3. Based on the observation of the bolt array skeleton and hole group, perform diffusion-type six-degree-of-freedom pose estimation, add insertion constraints in candidate generation and scoring, eliminate predicted interference solutions, and output pose estimation results and confidence range.

[0010] S4. Based on the pose estimation results and task parameters, combined with plate thickness, chamfer and clearance, generate the allowable insertion pose range and tighten it with height. Based on this, construct the bottom insertion channel from top to bottom and output the insertion constraint set.

[0011] S5. Using the insertion constraint set as the feasible region, establish a tubular model predictive control, treat wind disturbance and sway as bounded disturbances, restrict the nominal trajectory to the insertion channel, and ensure that the actual trajectory does not exceed the boundary by the feedback law. Output the nominal trajectory and speed limit.

[0012] S6. Based on the nominal trajectory, implement input shaping and sway suppression. The high segment is coarsely aligned and the sway is reduced. The middle segment is slightly moved along the center of the insertion channel. The low segment is inserted at low speed and kept at the center of the allowed insertion attitude range. Output the shaping command and switching conditions.

[0013] S7. Monitor the clearance margin and contact signal in the lower insertion section. When the margin approaches the lower limit or the trajectory deviates, reverse along the lower insertion channel to a safe height, and quickly regenerate the insertion constraint set and control. After the seat is stable, release the load and release.

[0014] Optionally, S1 is as follows:

[0015] The safety margin is the minimum radial clearance requirement between the bolt threads and the base plate coating, which is obtained by subtracting manufacturing deviations, installation deviations, and coating thickness from the nominal difference between the hole group size and the bolt diameter.

[0016] The attitude limitation is the allowable attitude range of the base plate relative to the bolt array, with a safety margin as the boundary, and determined in combination with the influence of plate thickness and chamfer on the passability; a slight tilt is allowed at the high position to facilitate the introduction, and when approaching the hole, it is tightened to a near-horizontal attitude to ensure that the hole group is fitted at the same time without contacting the bolts.

[0017] Optionally, S2 is as follows:

[0018] The bolt array skeleton is a geometric description of the array determined by the top surface of the bolts and the axis in the construction coordinate system. It includes at least the center position of each bolt, the direction of the axis, the height of the top surface, and the row and column relationship of the array, which is used to provide a spatial reference for subsequent pose estimation.

[0019] The hole group observation is a set of observation data on the center of the hole group and the boundary of the bottom plate under the construction coordinate system. It includes at least the center position of each hole, hole diameter, hole arrangement relationship and line segment or curve description of the bottom plate boundary, which is used to correspond and register with the bolt array skeleton.

[0020] The array-based topology registration is a registration technique performed under the construction coordinate system and task parameters: a corresponding index is established based on the row and column relationships of the bolt array skeleton; corresponding candidate relationships are generated based on the hole position arrangement observed in the hole group; during the generation and screening process, the forbidden area and attitude restrictions in the task parameters are used as constraints to exclude candidate relationships that would cause the base plate boundary to intrude into the forbidden area or be outside the allowed insertion attitude range; and considering the safety margin, the corresponding relationship must not cause predicted interference between the hole wall and the bolt; finally, a registration result verified by row and column relationship consistency and geometric constraints is obtained.

[0021] The output bolt array skeleton and hole group observations are used for pose estimation by structuring the above registration results into pose estimation input data, including the set of bolt center positions and axial directions in the construction coordinate system, the set of hole center positions and hole diameters, and the validity markers of the forbidden areas and attitude restrictions given by the task parameters, so that the pose estimation can directly reference the relevant constraints in the candidate generation and scoring stages.

[0022] Optionally, S3 specifically refers to:

[0023] The candidate generation and scoring process involves forming multiple relative pose candidates based on the observation of the bolt array skeleton and hole group, and performing consistency judgment and sorting on each candidate in the construction coordinate system. The candidate generation and scoring process includes at least the construction of the candidate pose, the determination of the spatial relationship with the restricted area, the determination of compliance with the attitude restrictions, and the determination of the insertion risk with the safety margin.

[0024] The diffusion-type six-degree-of-freedom pose estimation is performed in the construction coordinate system, using the bolt array skeleton and hole group observations as input conditions to generate a set of relative pose samples covering a near-height range. The generation and convergence of pose samples are bounded by pose constraints and the safety margin is used as the criterion for insertion allowance. Candidates are generated and scored for the samples, and the pose estimation results and confidence range are output, so that the estimation results directly serve the one-time, pry-free insertion of the steel column base plate.

[0025] The insertion constraint added to the candidate generation and scoring process is a verification process that embeds the safety margin and the insertion rules formed by plate thickness and chamfer into the candidate pose: For each pose candidate, the allowable lateral offset and tilt amplitude are calculated layer by layer according to the proximity height; the hole group center and bolt center are checked layer by layer while the conditions are applied, and the prohibited area must not be touched and the pose limit must not be exceeded; any candidate that does not meet the insertion rules is not included in the valid set, thus avoiding prying and scratching from the source;

[0026] The elimination of predicted interference solutions involves deleting solutions from the candidate pose set that would cause contact between the hole wall and the bolt, scraping between the bottom plate boundary and adjacent components, or lateral jamming due to pose limitations. The criteria for judgment are the geometric coincidence relationship in the construction coordinate system, the influence of plate thickness and chamfer on the import path, and the minimum safety margin requirement. After elimination, candidates that meet the insertion constraints are retained to form pose estimation results and confidence ranges for control.

[0027] Optionally, the insertion constraint added in candidate generation and scoring is calculated and determined using the following comparison function of minimum clearing margin and safety margin for a single candidate:

[0028]

[0029] in, The minimum clearance margin for a single candidate. In order to be in Next, perform a horizontal projection operator on the vector. Let be the center position vector of the hole. This is the center position vector of the bolt corresponding to the hole. The direction of the bolt axis. Where is the radius of the hole. Where is the bolt radius. For safety margin, It is approximately a highly discrete set. When and The roll, pitch and yaw should not exceed The upper limit of the range, and the geometry of the base plate and the bolts are not related in this pose. When they intersect, the candidate is considered a valid solution that satisfies the insertion constraints. For the height segment corresponding to the chamfer, by... The determined stratification weights ensure that the scoring does not weaken the gap-clearing criterion within the allowable tilt range, thus guaranteeing the feasibility of the introduction phase.

[0030] Optionally, S4 specifically refers to:

[0031] The process of generating a permissible insertion posture range and tightening it with height involves the following steps: At each approach height, based on the pose estimation results and task parameters, a clearance is calculated for each candidate relative posture, and a safety margin is used as the lower limit for screening. Postures that enter the restricted area or exceed the posture limits are eliminated. Combining plate thickness and chamfer, a small tilt that facilitates insertion is allowed within the height range where the chamfer is located. The tilt and horizontal offset are gradually reduced within the range of approaching the hole and plate thickness, so that the passability transitions from the insertion stage to simultaneous insertion across the full thickness. A monotonically tightening permissible insertion posture range is formed across all height ranges, ensuring that multiple holes can be inserted simultaneously at any height and that the clearance is not lower than the safety margin.

[0032] The construction of the top-down insertion channel is as follows: the aforementioned allowable insertion posture ranges are connected layer by layer in order of approximate height, and the connection path that can maintain the minimum clearance without reduction is selected first; continuous transformation of first import and then return to center is allowed in the chamfer height section, and the plate thickness range is constrained to a near-horizontal posture and the horizontal offset is restricted, so that all bolts are kept in a synchronous entry state within the same height slice; if the connection is interrupted due to the restricted area in a certain height layer, the connection is reversed to the previous height layer and a connection slice that meets the safety margin is selected again to ensure that the channel is closed throughout and there is no risk of lateral jamming.

[0033] Optionally, the allowed insertion attitude range and the formation rule that tightens with height are determined using a single candidate constraint function for each height layer:

[0034]

[0035] in, In order to be in The horizontal projection operator below; The center position vector of the hole; This is the center position vector of the bolt corresponding to the hole; The direction is the bolt axis. Where is the hole radius; Where the bolt radius is; This represents the horizontal position offset increment; For attitude increment; It is a linear approximation operator for the horizontal projection offset of the aperture position by the attitude increment; To accommodate the additional clearance requirements that tighten with height, the value is set at a specific value within the chamfer height range. The given small non-zero values ​​allow for the introduction of tilt, varying within the plate thickness range. Decrease monotonically increasing until convergence to a near-horizontal position; all expressions satisfying this inequality and not touching... ,and The proportions and The amplitude of each value does not cause the attitude to break through. That is, it is considered to belong to .

[0036] Optional, S5 specifically includes:

[0037] The method of establishing predictive control for the tubular model using the insertion constraint set as the feasible region is as follows: In the construction coordinate system, the horizontal position range, attitude range, minimum clearance lower limit, and forbidden zone provided by the insertion constraint set are used as hard constraints to construct a prediction sequence of displacement and attitude, and a nominal trajectory is formed in order of approach height; the maximum offset and maximum tilt of the bounded disturbance are used as the disturbance boundary, and a safety bandwidth is determined around the nominal trajectory so that the actual trajectory does not touch the feasible region boundary and the forbidden zone under the most unfavorable disturbance; within each approach height segment, the nominal trajectory preferentially follows the middle of the lower insertion channel. The process involves advancing along a central path while maintaining geometric consistency in the simultaneous insertion of multiple holes under constraints of attitude and safety margin. Considering the introduction characteristics of plate thickness and chamfer, a slight tilt is allowed in the chamfer height section to facilitate introduction, and the plate converges to a near-horizontal attitude within the plate thickness range. Simultaneously, the velocity limit for this height section is determined based on the remaining clearance after deducting the safety margin from the bounded disturbance, ensuring that the predicted displacement and attitude changes do not cause the clearance to fall below the safety margin. The nominal trajectory and velocity limit obtained through the above constraints and limitations are used as execution inputs for the one-time, pry-free insertion of the steel column base plate.

[0038] The nominal trajectory is confined within the insertion channel. The feedback law ensures that the actual trajectory does not exceed the limits as follows: the nominal trajectory selects the center path of the insertion channel and the center of the attitude range at each approach height, so that the clearance has the maximum relative safety margin; the feedback law generates a correction effect based on the horizontal position error and attitude error between the actual trajectory and the nominal trajectory, and sets a safety bandwidth in combination with the maximum offset and maximum tilt of the bounded disturbance, so that the actual trajectory is always located around the nominal trajectory and does not touch the feasible domain boundary; when the actual trajectory approaches the boundary of the insertion constraint set or the minimum clearance approaches the lower limit of the safety margin, the feedback law triggers the reduction of the speed limit of the corresponding segment, and reduces the lateral offset and tilt amplitude while keeping the nominal trajectory within the insertion channel, ensuring that no lateral contact or prying occurs within the full thickness range; the final output is the nominal trajectory confined within the insertion channel and the speed limit of each approach height segment.

[0039] Optionally, wind disturbances and swaying are treated as bounded disturbances, with the nominal trajectory confined within the downslope channel. The determination is made using a safe bandwidth radius function for each altitude level, defined as follows:

[0040]

[0041] in, For safe bandwidth radius, The center of the pose estimation result in step S3, Let be the center position vector of the hole. The center position vector of the bolt corresponding to the registration result. The direction of the bolt axis. Where is the radius of the hole. Where is the bolt radius. For horizontal projection operators, For safety margin, To accommodate the additional clearance requirements that increase with height, This is a linear approximation operator for the horizontal projection offset of the aperture position by the attitude increment. For the maximum horizontal offset disturbance, The maximum tilt disturbance amplitude; if Then, at this altitude level, a radius can be set around the nominal trajectory. The safe bandwidth ensures that the feasible domain boundary and the minimum clearance limit are not reached under the most unfavorable disturbances and minor control errors.

[0042] Optional, S6 specifically includes:

[0043] The input shaping and sway suppression based on the nominal trajectory is as follows: using the nominal trajectory as the reference path, each approach height segment is decomposed into several time-weighted displacement and attitude increments. The weights and time intervals are determined based on the maximum offset and maximum tilt of the bounded disturbance, so that adjacent increments cancel each other out on the sway. Before generating each increment, the attitude and position after the increment are applied are checked with the insertion constraint set to see if they are still within the insertion channel and if the clearance is not reduced to below the safety margin. If not, the increment amplitude is compressed or the application timing is delayed. After the above shaping, a shaping command is output to suppress the sway and maintain the geometric consistency required for the simultaneous insertion of multiple holes without touching the restricted area.

[0044] The high-level segment coarse alignment and swing reduction is as follows: In the high-level segment close to the height, the base plate is coarsely aligned in the horizontal plane along the nominal trajectory, so that the center of the hole group is close to the center of the bolt array skeleton, and the row and column relationship is basically consistent around the vertical axis; at the same time, under the premise of not exceeding the speed limit, the timing increment of the input shaping and swing suppression is applied, and the horizontal swing component and the swing component around the vertical axis are preferentially reduced until the horizontal offset and attitude deviation meet the tolerance limit of the switching condition and are kept within the lower insertion channel;

[0045] The low-speed insertion in the low-position segment while maintaining the center of the allowable insertion posture range is as follows: In the low-position segment close to the height, insertion is performed along the nominal trajectory at a speed not exceeding the speed limit. The lateral and posture adjustment range is compressed to a slight correction near the center of the allowable insertion posture range. The shaping command is mainly vertical displacement, the posture is maintained at near horizontal and the row and column consistency required for simultaneous insertion of multiple holes is maintained. Any lateral correction must satisfy the insertion constraint set and maintain the gap clearing not less than the safety margin.

[0046] The beneficial effects of this invention are:

[0047] 1. This proposal presents an improved diffusion-based six-DOF pose estimation method and array topology registration technique. It pre-embeds insertion constraints (safety margin, plate thickness and chamfer, attitude restrictions, and restricted areas) for simultaneous multi-hole insertion into candidate generation and scoring, and outputs pose results and confidence ranges under a unified construction coordinate system and task window. Unlike the existing post-processing strategy of "registration first, collision check later," this improvement allows for slight tilting in the chamfer segment and converges to near-horizontal in the plate thickness segment, eliminating predicted interference solutions from the source, maintaining row and column consistency, and unifying the full-thickness gap clearing judgment. This reduces low-position trial and error and lateral contact, avoiding prying and edge scraping. Simultaneously, by combining the observation of the difference between the bolt top surface height and axis, the pose search domain is constrained, making the estimation compatible with on-site manufacturing and installation deviations.

[0048] 2. This proposal suggests a novel "height-dependent tightening" insertion attitude range and insertion channel construction method. It calculates the minimum clearance of the multi-hole structure in layers approaching height and monotonically compresses horizontal offset and attitude deviation, connecting the center paths of each layer to form a structured set of insertion constraints as the unique feasible domain input. Based on this feasible domain, a tubular model predictive control is established, with the nominal trajectory confined to the channel center. Wind disturbance and sway are absorbed as bounded disturbances within the safe bandwidth, and segmented velocity limits are set based on the remaining clearance. Technically, after being allowed to be introduced into the chamfered height segment, the system returns to center, constraining near-horizontal alignment within the plate thickness range. This ensures that the actual trajectory does not touch the restricted area and that the clearance throughout the entire process is not lower than the safety margin, thus maintaining the geometric consistency of simultaneous multi-hole insertion under confined space and disturbance conditions.

[0049] 3. This proposal presents a holistic method and technical approach encompassing perception, geometric registration, constrained pose estimation, channel insertion, tubular control, input shaping, and online monitoring and retraction. Under the constraints of a unified construction coordinate system and task window, it employs segmented execution of array topology registration and input shaping to suppress swaying. High-position coarse alignment and sway reduction, mid-position micro-movement along the channel center, and low-position low-speed insertion while maintaining the center of the attitude range are all employed. During the insertion segment, gap clearing and contact signals are continuously monitored. When the margin approaches the lower limit or the trajectory deviates, the system retracts along the channel to a safe height, rapidly regenerates the insertion constraint set, and re-enters the channel after control. Compared to traditional position tracking and post-event obstacle avoidance schemes, this holistic approach achieves integrated expression of insertion constraints in estimation and control, ensuring stable, one-time, pry-free insertion of the steel column base plate under confined construction space and bounded disturbance conditions, while avoiding contact with prohibited areas. Attached Figure Description

[0050] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0051] Figure 1The flowchart shows a method for inserting a steel column base plate into place without prying, based on diffusion-based six-degree-of-freedom pose estimation proposed in this invention.

[0052] Figure 2 This is a schematic diagram of a three-dimensional isometric insertion channel for a steel column base plate insertion method without prying, based on diffusion-type six-degree-of-freedom pose estimation proposed in this invention. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0054] refer to Figure 1 A method for inserting a steel column base plate without prying based on diffusion-based six-degree-of-freedom pose estimation, characterized by comprising:

[0055] S1. Establish the construction coordinate system and task window, read the base plate geometry, hole group size, bolt tolerance and safety margin, determine the approach height, speed limit, restricted area and attitude limit, and output the coordinate system and task parameters.

[0056] S2. Under the construction coordinate system and task parameters, collect the top surface and axis of the bolts, collect the center of the hole group in the base plate and the boundary of the base plate, and register according to the array topology to output the bolt array skeleton and hole group observation for pose estimation.

[0057] S3. Based on the observation of the bolt array skeleton and hole group, perform diffusion-type six-degree-of-freedom pose estimation, add insertion constraints in candidate generation and scoring, eliminate predicted interference solutions, and output pose estimation results and confidence range.

[0058] S4. Based on the pose estimation results and task parameters, combined with plate thickness, chamfer and clearance, generate the allowable insertion pose range and tighten it with height. Based on this, construct the bottom insertion channel from top to bottom and output the insertion constraint set.

[0059] S5. Using the insertion constraint set as the feasible region, establish a tubular model predictive control, treat wind disturbance and sway as bounded disturbances, restrict the nominal trajectory to the insertion channel, and ensure that the actual trajectory does not exceed the boundary by the feedback law. Output the nominal trajectory and speed limit.

[0060] S6. Based on the nominal trajectory, implement input shaping and sway suppression. The high segment is coarsely aligned and the sway is reduced. The middle segment is slightly moved along the center of the insertion channel. The low segment is inserted at low speed and kept at the center of the allowed insertion attitude range. Output the shaping command and switching conditions.

[0061] S7. Monitor the clearance margin and contact signal in the lower insertion section. When the margin approaches the lower limit or the trajectory deviates, reverse along the lower insertion channel to a safe height, and quickly regenerate the insertion constraint set and control. After the seat is stable, release the load and release.

[0062] In this specific embodiment, S1 specifically refers to:

[0063] Establish a construction coordinate system to uniformly represent all subsequent geometric and control constraints. The construction coordinate system is denoted as... ,in The measurement reference point is taken from the top surface of the foundation. and Located within the plane of the top surface of the foundation, The vertical direction pointing downwards indicates the insertion direction of the anchor bolts; in this coordinate system, the approximate height is represented by a scalar. This indicates that its direction is... In the same direction. To achieve consistent mapping between the sensor and the lifting device to the construction coordinate system, the pose transformation from the lifting device coordinate system to the construction coordinate system is determined separately. And the pose transformation from each sensor coordinate system to the construction coordinate system. All subsequent observation data were processed through the corresponding... Unified to All motion commands are transmitted through Mapped to the executing agency.

[0064] Construct task parameters to uniformly describe the relevant design geometry, construction constraints, and safety boundaries in the construction coordinate system. The task parameters are denoted as a set. It includes at least the array topology of the bolt array, the thickness and chamfer of the base plate, the hole diameter and bolt diameter, attitude restrictions, no-entry zones, safety margins, the proximity height discrete set, and the upper limits of perturbation and velocity, in order to support subsequent registration, pose estimation, generation of allowed insertion attitude range, construction of under-insertion channels, and control constraints.

[0065] Specifically, the array topology of the bolt array is denoted as... ,in and These represent the number of rows and the number of columns, respectively. and These are the row and column step distances, respectively. Where is the bolt radius. For array in The reference origin is offset in the diagram. The relevant parameters of the base plate are denoted as... ,in Where is the radius of the hole. For plate thickness, The chamfer dimension (including the equivalent dimensions of chamfer height and chamfer angle). The attitude constraint is denoted as... Each is limited to surrounding , and The maximum permissible attitude deviation. The restricted area is denoted as... This describes the set of spaces in the construction environment where the base plate or bolts are not allowed to enter. The safety margin is denoted as... This is used to define the minimum allowable clearance during the simultaneous insertion of multiple holes. The highly discrete set is denoted as... This covers the entire journey from the high-level segment to the low-level segment. The upper limit of the disturbance is denoted as... , representing the maximum horizontal offset and maximum tilt deviation in the construction coordinate system, respectively, are used to subsequently consider wind disturbance and oscillation as bounded disturbances. The initial value of the upper limit of velocity is denoted as . Each has a defined upper limit for the vertical and horizontal speeds.

[0066] During implementation, the construction coordinate system is established with the top surface of the foundation as the reference plane, and is determined in conjunction with on-site measurement benchmarks. and The direction is to ensure proximity to the altitude. Consistent with the actual insertion direction. The installation posture of the lifting device and sensor is determined by... and Implement This provides a unified reference for subsequent data acquisition and control execution under the construction coordinate system and task parameters. Array Topology Obtain the row and column relationships and step distances based on the design drawings, and in China passed The spatial anchorage is determined by the array orientation; base plate parameters Give plate thickness with chamfer The nominal value provides a geometric basis for subsequently generating the allowable insertion posture range that tightens with height; hole radius With bolt radius Used in conjunction with clearance clearing and safety margin determination. Attitude constraints. The maximum permissible deviation is set based on the construction method and lifting capacity, serving as the outer boundary of the posture throughout the entire process; prohibited areas. Then, based on the geometric shapes of adjacent components, the ground, obstacles, and tooling... The envelope description is then used as an exclusion criterion for subsequent candidate poses and trajectories; safety margin The lower limit for gap clearing is uniformly set based on the stability of simultaneous multi-hole insertion and the scratch resistance requirements of the component surface; close to the highly discrete set. The plate thickness is segmented and discretized according to chamfer height, orifice height, and plate thickness to allow for tilting in the chamfer segment while maintaining near-horizontal alignment in the plate thickness segment; disturbance upper limit. The most unfavorable amplitude boundary is given based on the on-site wind speed level and the load swing amplitude, which is used to reserve a safe bandwidth in the control; initial value of the upper speed limit. As the initial boundary for nominal velocity, it will be further refined in conjunction with the insertion constraint set.

[0067] The coordinated construction of the construction coordinate system and task parameters is the key point of step S1: through... The following The unified structure expresses multi-source geometry and insertion rules, allowing restricted areas, attitude constraints, safety margins, and approach heights to be directly referenced by subsequent steps within the same reference. This constrains the solution space of pose estimation, the generation of the allowed insertion attitude range, the connectivity of the insertion channel, and the construction of the control feasible region all within the same executable set. The integrated task parameter structure avoids the inconsistency risks caused by mapping back and forth between different coordinates and boundaries, directly serving the core business pain point of one-time, pry-free insertion of steel column base plates.

[0068] In terms of implementation, it should first be completed on-site. Anchoring and , The determination was made; subsequently, the data was filled in according to the design documents and on-site measurement results. , and The parameters are set according to construction specifications and equipment capabilities. , , and Finally, it is generated based on the principle of geometric segmentation. And check that it covers the entire stroke and is consistent with the height range of the chamfer and plate thickness.

[0069] In this specific embodiment, S2 specifically refers to:

[0070] Based on the construction coordinate system obtained in step S1 With task parameter set ,exist The process involves constructing a bolt array skeleton and observing the hole group, registering them according to the array topology, and outputting structured data and constraint markers for pose estimation. Using the row and column relationships and step distance as the core reference, Unify sensor observations Follow the entire process , and Boundary requirements.

[0071] Bolt array skeleton in Defined as a set Each of them It must contain at least the center position vector. axial direction Bolt top surface height And the row and column index relationship. Based on... It can be biased at the array reference origin. with step size Under the constraints, determine the nominal arrangement of each center position, for example... Bolt radius is determined by Given, used for subsequent clearance clearing and interference prediction determination. Bolt top surface height. Provided by on-site measurements or nominal data, reflecting the relative relationship between the exposed height of each bolt and its proximity to the base plate.

[0072] Hole group observation in Defined as a set Each of them At least includes the hole center position vector Hole radius Description of hole arrangement and line segments or curves of the base plate boundary. The raw sensor values ​​are processed by their respective... Mapped to Later formed The set, the aperture radius is determined by Provided or identified on-site; base plate boundaries As a combination of polylines or curves, it is used to limit the feasible area of ​​the hole location and in conjunction with... The relationship determination provides a plate edge reference. The hole arrangement relationship is related to... A consistent row and column pattern facilitates the subsequent establishment of corresponding candidate relationships.

[0073] Register the two according to the array topology. and Under the constraints and Establish a consistent index mapping. First, based on... The row-column relationship Generate row and column index sets, and generate candidate index mapping sets based on the hole position arrangement relationship. For each candidate mapping ,exist and Geometric consistency is determined under the boundary conditions: on the one hand, the consistency of row and column relationships is checked, that is, the mapped pore group is within the boundary conditions. relative step size in direction and Compatibility; on the other hand, testing the predicted interference of insertion correlation, based on , Approximate height Based on the slicing conditions, estimate the minimum radial distance between the hole wall and the outer circle of the bolt, requiring that this distance not be less than a safety margin over the entire thickness range. Anyone entering the restricted area... Or in posture restrictions Candidates outside the range are directly excluded; only candidate mappings that satisfy row and column consistency and geometric constraints are retained, and the most consistent registration result is selected from them. .

[0074] After obtaining the registration results Subsequently, the output data structures used for pose estimation are collectively referred to as bolt array skeleton and hole group observations, which are used for pose estimation. This output must include at least: Set of bolt center positions With unified axis direction Bolt top surface height Set of hole center locations With hole radius ; and by and The given validity flag indicates the usable state of the current registration under the attitude and environment boundaries. The structured output described above is directly used as input to step S3, enabling candidate generation and scoring to reference relevant insertion constraints, thereby avoiding predicted interference between the hole wall and the bolt from the source and maintaining the geometric consistency of simultaneous insertion of multiple holes.

[0075] In implementation, the construction of the bolt array skeleton is based on To drive, first settle. , and , and then Give a unified axis direction and record each To describe the difference in bolt exposure height; the formation of hole group observations to describe the difference in bolt exposure height. Unify sensor data, combine Give and and maintain the same hole arrangement relationship as The rows and columns are expressed in a consistent manner. Strict adherence to this principle is maintained during the registration process. and Candidates are screened within the boundaries, and by As the minimum clearance criterion, ensure the final It does not trigger predictive interference.

[0076] In this specific embodiment, S3 specifically refers to:

[0077] The bolt array skeleton output in step S2 Hole Group Observation and registration results As input, and based on the construction coordinate system With task parameter set ,exist The following method performs diffusion-based six-DOF pose estimation. The desired relative pose is defined as the pose of the base plate relative to the bolt array skeleton. ,in Description around posture, Description in Displacement in the direction.

[0078] Diffusion-based six-DOF pose estimation uses the row and column center alignments obtained from registration as initial candidates. In attitude constraints With restricted areas Within the boundary, according to the set of near height Layered generation of pose sample sets The diffusion increment takes small-step translation and rotation changes in six dimensions, converging layer by layer to a feasible solution that satisfies the insertion constraints. Simultaneously, in the height segment corresponding to the chamfer (from... (Given) Slight tilting is permitted to facilitate introduction, within the plate thickness range. It gradually returns to a near-horizontal position.

[0079] Insertion constraints are added to the candidate generation and scoring process, specifically for each pose candidate. Calculate the minimum clearance allowance for porous, full-thickness structures, ensuring that this allowance is not less than the safety margin. At the same time, without touching the restricted area. And without exceeding the attitude limit Therefore, at each approach altitude On the slice, the evolution of the lateral offset between the hole center and the corresponding bolt center with attitude tilt is estimated, and the plate thickness is also considered. With chamfer dimensions The geometric influence is incorporated into the score through hierarchical weighting.

[0080] The minimum clearance margin for a single candidate is calculated using the following formula and compared with the safety margin:

[0081]

[0082] in, The minimum clearance margin for a single candidate. In order to be in Next, perform a horizontal projection operator on the vector. Let be the center position vector of the hole. This is the center position vector of the bolt corresponding to the hole. The direction of the bolt axis. Where is the radius of the hole. Where is the bolt radius. For safety margin, It is approximately a highly discrete set. When and The roll, pitch and yaw should not exceed The upper limit of the range, and the geometry of the base plate and the bolts are not related in this pose. When they intersect, the candidate is considered a valid solution that satisfies the insertion constraints. For the height segment corresponding to the chamfer, by... The determined stratification weights ensure that the scoring does not weaken the gap-clearing criterion within the allowable tilt range, thus guaranteeing the feasibility of the introduction phase.

[0083] The rule for eliminating predicted interference solutions is as follows:

[0084] If any candidate In any hole With any approaching height above In the case where the candidate solution is not specified, it is directly marked as a predicted interference solution and excluded; if the candidate solution exceeds the specified orientation, it is excluded. or its geometric envelope touch Similarly, those are excluded. The remaining candidates are then evaluated based on the clearance margin. The sizes are sorted, and the pose with the largest margin across the entire thickness range, the fastest convergence in the chamfer height segment, and the most stable row and column consistency is selected as the estimation result.

[0085] The output of pose estimation results and confidence range is as follows:

[0086] Select the best sorted As a result of pose estimation; using the diffused sample set Based on high-resolution segments that satisfy insertion constraints, statistics are based on... The position and orientation boundaries form a set of reliable ranges. and at a height To index the above boundaries, a hierarchical description is used, making the reliable range slightly wider in the chamfer height segment and narrower to a near-horizontal narrow range in the plate thickness segment.

[0087] In this specific embodiment, S4 specifically refers to:

[0088] The pose estimation result output in step S3 and credible range Based on the construction coordinate system With task parameters Under the constraints of the base plate thickness and the chamfer (by... (Given) and gap clearing criteria, the allowable insertion posture range is generated by slicing at each height. And in accordance with the principle of "tightening with height", The chamfer height range allows for the introduction of tilting, converging into a near-horizontal narrow region within the plate thickness range. Subsequently, according to... By Approximate Height Connectivity is used to construct a top-down insertion channel and output a structured set of insertion constraints for subsequent control.

[0089] Allowed insertion attitude range around The position and attitude center are defined as a set of feasible offsets in the horizontal position and the attitude around the three axes, which must simultaneously satisfy attitude constraints. Restricted areas Space exclusion and porous, full-thickness clearance shall not be less than the safety margin. .

[0090] To explicitly embed height-dependent tightening into the gap clearing criterion, the following single criterion is used to calculate the feasible offset for each height layer, and its satisfaction is used as... The rules for its composition:

[0091]

[0092] in In order to be in The horizontal projection operator below; The center position vector of the hole; This is the center position vector of the bolt corresponding to the hole; The direction is the bolt axis. Where is the hole radius; Where the bolt radius is; This represents the horizontal position offset increment; For attitude increment; It is a linear approximation operator for the horizontal projection offset of the aperture position by the attitude increment; To accommodate the additional clearance requirements that tighten with height, the value is set at a specific value within the chamfer height range. The given small non-zero values ​​allow for the introduction of tilt, varying within the plate thickness range. The monotonically increasing trend decreases until it converges to a near-horizontal position. Any condition satisfying this inequality and not touching [the specified value]... ,and The proportions and The amplitude of each value does not cause the attitude to break through. That is, it is considered to belong to .

[0093] In implementation, firstly... For near-height stratification: located by The indicated chamfer height segment of the layer allows Take a small non-zero value to facilitate import, while controlling... Maintain row and column consistency Near the registration relationship; entering the plate thickness range Afterwards, Compress layer by layer until it is nearly horizontal, for The size is reduced layer by layer to ensure geometric consistency when multiple holes are simultaneously fitted, and through... The monotonically increasing property achieves tightening with height. For each layer, the property satisfying the above criterion is calculated. and The boundary defines the horizontal position and attitude range of this layer; if a candidate offset causes the minimum clearance to be lower than or with If they intersect, then the candidate is not included. .

[0094] Based on this, the top-down insertion channel is constructed as follows: (According to...) The order of height is used to arrange the layers. The center (around) and The zero-bias position and near-horizontal attitude center are connected to form a continuous spatial corridor, requiring continuous transformation between adjacent layers without contact risk, and selecting connecting sections based on row and column consistency and clearance margin; continuous transformation with initial introduction and subsequent return is allowed in the chamfer height section, and only near-horizontal connecting paths are retained within the plate thickness range, and the outer side of the channel must not be connected to... intersect.

[0095] The output insertion constraint set is: the above-mentioned insertion channels are structured into a set of boundaries indexed by proximity height, which at least includes the horizontal position range, attitude range, and minimum clearance lower limit for each layer. With restricted area boundary markings, and references As the outer boundary of the attitude, this set of insertion constraints serves as the feasible domain input for subsequent control. It is directly used to limit the executable displacement and attitude within the full thickness, ensuring that the insertion process always remains within the insertion channel and that the clearance is not lower than the safety margin.

[0096] In this specific embodiment, S5 specifically includes:

[0097] In the construction coordinate system With task parameters Under the constraints of the previous step, taking the set of insertion constraints as the feasible region, and using the center path of the insertion channel as the spatial anchor point of the nominal trajectory, we approximate the height set. Segmented prediction and execution are performed sequentially. The nominal trajectory is defined as the displacement and attitude time series confined within the interpolation channel. It is located at the center of the allowed insertion attitude range at each height level and meets the attitude constraints. With restricted areas Exclusion requirements.

[0098] To mitigate the effects of on-site wind disturbance and load sway, both are considered as bounded disturbances. A safe bandwidth is constructed around the nominal trajectory, and a tubular model predictive control is used to keep the actual trajectory within the bounds throughout the entire process.

[0099] To ensure a unified characterization of the feasible region and the lower limit of the clearance at the control layer, this implementation applies a different approach height. Calculate the safe bandwidth radius Its definition is as follows: it is used to simultaneously absorb the most unfavorable effects of both horizontally bounded disturbances and tilted bounded disturbances on the relative position of the hole and bolt, and its consistency is checked with the minimum clearance lower limit in the inserted constraint set:

[0100]

[0101] in, For a safe bandwidth radius, The center of the pose estimation result in step S3, Let be the center position vector of the hole. The center position vector of the bolt corresponding to the registration result. The direction of the bolt axis. Where is the radius of the hole. Where is the bolt radius. For horizontal projection operators, For safety margin, To accommodate the additional clearance requirements that increase with height, This is a linear approximation operator for the horizontal projection offset of the aperture position by the attitude increment. For the maximum horizontal offset disturbance, This represents the maximum tilt disturbance amplitude. If Then, at this altitude level, a radius can be set around the nominal trajectory. The safe bandwidth ensures that the feasible domain boundary and the minimum clearance limit are not reached under the most unfavorable disturbances and minor control errors.

[0102] In the calculation Subsequently, the tubular model predictive control uses the insertion constraint set as hard constraints to generate a displacement and attitude prediction sequence with finite step lengths at each height layer, ensuring that the nominal trajectory always advances along the center of the insertion channel and maintains the geometric consistency of the simultaneous insertion of multiple holes. The feedback law takes the error of the actual trajectory relative to the nominal trajectory as input, and when the error in any direction approaches... Upon reaching the boundary, immediately compress the lateral and attitude increments and trigger the deduction of the velocity limit to ensure that the actual trajectory does not cross the feasible region boundary. The nominal trajectory construction allows for slight tilting in the chamfer height segment to facilitate input, and gradually converges to a near-horizontal attitude as it enters the plate thickness range; all lateral corrections are bounded by the horizontal position range and attitude range of the inserted constraint set, prohibiting entry into the restricted area. .

[0103] Speed ​​limit based on The settings are segmented. At each height level, the upper limits for vertical and horizontal velocity are respectively limited to the remaining available bandwidth that does not exceed the sum of the possible displacement increment and the most unfavorable perturbation within the sampling period, ensuring that the sum of the predicted displacement increment, the perturbation displacement, and the horizontal offset introduced by the attitude does not exceed... This yields a set of speed limits indexed by approximate height, which, along with the nominal trajectory, serve as execution input. When the actual trajectory approaches the safe bandwidth boundary or the minimum clearance is near... At that time, the feedback law keeps the nominal trajectory within the underpass channel and reduces the speed limit of the corresponding segment until the error converges back to the safe bandwidth.

[0104] After implementation, the output is limited to the nominal trajectory within the insertion channel and the speed limit segmented by height. Together, they ensure that under bounded disturbances, the actual trajectory is always within the feasible region and that the clearance is not less than the safety margin across the entire thickness range.

[0105] In this specific embodiment, S6 specifically refers to:

[0106] Within the construction coordinate system, using the nominal trajectory obtained in step S5 as a reference, input shaping and sway suppression are applied to displacement and attitude commands. The shaping commands are confined to the feasible region of the insertion constraint set and executed segmentally along the insertion channel, with the target always pointing to the center of the allowed insertion attitude range. The shaping commands include at least an insertion displacement command, a micro-lateral movement command, and an attitude command. The amplitude and rhythm are set according to the velocity limit and the lower limit of the clearance constraint, so that the shaped execution trajectory does not cross the boundary of the feasible region under bounded disturbance and maintains the geometric consistency of simultaneous insertion of multiple holes.

[0107] In the high-position segment near the height, coarse alignment and sway reduction are implemented: the base plate is coarsely aligned in the horizontal plane according to the nominal trajectory, so that the center of the hole group is close to the center of the bolt array skeleton, and the row and column relationships are aligned around the vertical axis; at the same time, the sway reduction increment of the timing shaping is applied to preferentially reduce the horizontal sway component and the sway component around the vertical axis until the actual horizontal offset and attitude deviation enter the tolerance range defined by the switching conditions and remain within the insertion channel. In the mid-position segment near the height, micro-movement is performed along the center of the insertion channel: with the center path of the nominal trajectory as the reference, a small lateral movement and a small attitude adjustment with limited amplitude are output step by step, so that the horizontal position and attitude gradually converge to the center of the allowable insertion attitude range; before each micro-movement increment is applied, it is checked to meet the insertion constraint set and velocity limit, to avoid touching the forbidden area and to maintain the clearance not lower than the safety margin. In the lower section near the height, insert at a low speed and maintain the center of the allowable insertion posture range: mainly vertical displacement, the posture is maintained at near horizontal, and the row and column relationship is kept consistent with the bolt array skeleton; apply minimal lateral and posture correction only when necessary to ensure that the clearance meets the lower limit throughout the entire thickness range and the trajectory is always within the insertion channel.

[0108] The output shaping commands and switching conditions are as follows: Shaping commands corresponding to the high, middle, and low segments are organized and output in order of approaching height, and inter-segment switching conditions are provided. These switching conditions include at least an approaching height threshold, horizontal offset tolerance, attitude deviation tolerance, swing amplitude threshold, and a judgment that the clearance is not lower than the safety margin. When the switching conditions are met, the next segment is executed; otherwise, the shaping command of the current segment is maintained, and the speed is limited to within the speed limit, until the switching conditions are met. The above segmented shaping and switching logic directly serves the scenario of one-time, non-tampering insertion, ensuring that the nominal trajectory and the actual trajectory advance in a consistent manner under bounded disturbances.

[0109] In this specific embodiment, S7 specifically refers to:

[0110] During the lower insertion segment, the comparison results of the minimum clearance and safety margin, as well as the contact signal, are continuously monitored. The monitoring uses the error between the nominal trajectory and the actual trajectory as a reference, combined with the feasible region boundary of the insertion constraint set and the speed limit for judgment. When the minimum clearance approaches the safety margin or the actual trajectory approaches the feasible region boundary and shows a deviation trend, the withdrawal strategy is immediately triggered. The device moves in the opposite direction along the center path of the lower insertion channel to the preset safe height. During the withdrawal process, it maintains the center of the allowable insertion attitude range and is constrained by the speed limit to avoid entering the restricted area. After reaching the safe height, the insertion constraint set, nominal trajectory, and speed limit are quickly regenerated based on the latest pose estimation and task parameters, and the tubular model predictive control is restored. The device continues execution by pressing the insertion channel. When the base plate is stably seated, the contact signal is continuous and stable, and the attitude and horizontal position errors are all within the tolerance of the center of the allowable insertion attitude range, the load is released and the installation is completed.

[0111] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for inserting a steel column base plate without prying based on diffusion-based six-degree-of-freedom pose estimation, characterized in that, include: S1. Establish the construction coordinate system and task window, read the base plate geometry, hole group size, bolt tolerance and safety margin, determine the approach height, speed limit, restricted area and attitude limit, and output the coordinate system and task parameters. S2. Under the construction coordinate system and task parameters, collect the top surface and axis of the bolts, collect the center of the hole group in the base plate and the boundary of the base plate, and register according to the array topology to output the bolt array skeleton and hole group observation for pose estimation. S3. Based on the observation of the bolt array skeleton and hole group, perform diffusion-type six-degree-of-freedom pose estimation, add insertion constraints in candidate generation and scoring, eliminate predicted interference solutions, and output pose estimation results and confidence range. S4. Based on the pose estimation results and task parameters, combined with plate thickness, chamfer and clearance, generate the allowable insertion pose range and tighten it with height. Based on this, construct the bottom insertion channel from top to bottom and output the insertion constraint set. S5. Using the insertion constraint set as the feasible region, establish a tubular model predictive control, treat wind disturbance and sway as bounded disturbances, restrict the nominal trajectory to the insertion channel, and ensure that the actual trajectory does not exceed the boundary by the feedback law. Output the nominal trajectory and speed limit. S6. Based on the nominal trajectory, implement input shaping and sway suppression. The high segment is coarsely aligned and the sway is reduced. The middle segment is slightly moved along the center of the insertion channel. The low segment is inserted at low speed and kept at the center of the allowed insertion attitude range. Output the shaping command and switching conditions. S7. Monitor the clearance margin and contact signal in the lower insertion section. When the margin approaches the lower limit or the trajectory deviates, reverse along the lower insertion channel to a safe height, and quickly regenerate the insertion constraint set and control. After the seat is stable, release the load and release.

2. The method for inserting a steel column base plate without prying, based on diffusion-type six-degree-of-freedom pose estimation, as described in claim 1, is characterized in that... S1 specifically refers to: The safety margin is the minimum radial clearance requirement between the bolt threads and the base plate coating, which is obtained by subtracting manufacturing deviations, installation deviations, and coating thickness from the nominal difference between the hole group size and the bolt diameter. The attitude limitation is the allowable attitude range of the base plate relative to the bolt array, with a safety margin as the boundary, and determined in combination with the influence of plate thickness and chamfer on the passability; a slight tilt is allowed at the high position to facilitate the introduction, and when approaching the hole, it is tightened to a near-horizontal attitude to ensure that the hole group is fitted at the same time without contacting the bolts.

3. The method for inserting a steel column base plate without prying, based on diffusion-type six-degree-of-freedom pose estimation, as described in claim 1, is characterized in that... S2 specifically refers to: The bolt array skeleton is a geometric description of the array determined by the top surface of the bolts and the axis in the construction coordinate system. It includes at least the center position of each bolt, the direction of the axis, the height of the top surface, and the row and column relationship of the array, which is used to provide a spatial reference for subsequent pose estimation. The hole group observation is a set of observation data on the center of the hole group and the boundary of the bottom plate under the construction coordinate system. It includes at least the center position of each hole, hole diameter, hole arrangement relationship and line segment or curve description of the bottom plate boundary, which is used to correspond and register with the bolt array skeleton. The array-based topology registration is a registration technique performed under the construction coordinate system and task parameters: a corresponding index is established based on the row and column relationships of the bolt array skeleton; corresponding candidate relationships are generated based on the hole position arrangement observed in the hole group; during the generation and screening process, the forbidden area and attitude restrictions in the task parameters are used as constraints to exclude candidate relationships that would cause the base plate boundary to intrude into the forbidden area or be outside the allowed insertion attitude range; and considering the safety margin, the corresponding relationship must not cause predicted interference between the hole wall and the bolt; finally, a registration result verified by row and column relationship consistency and geometric constraints is obtained. The output bolt array skeleton and hole group observations are used for pose estimation by structuring the above registration results into pose estimation input data, including the set of bolt center positions and axial directions in the construction coordinate system, the set of hole center positions and hole diameters, and the validity markers of the forbidden areas and attitude restrictions given by the task parameters, so that the pose estimation can directly reference the relevant constraints in the candidate generation and scoring stages.

4. The method for inserting a steel column base plate without prying based on diffusion-type six-degree-of-freedom pose estimation according to claim 1, characterized in that, S3 specifically refers to: The candidate generation and scoring process involves forming multiple relative pose candidates based on the observation of the bolt array skeleton and hole group, and performing consistency judgment and sorting on each candidate in the construction coordinate system. The candidate generation and scoring process includes at least the construction of the candidate pose, the determination of the spatial relationship with the restricted area, the determination of compliance with the attitude restrictions, and the determination of the insertion risk with the safety margin. The diffusion-type six-degree-of-freedom pose estimation is performed in the construction coordinate system, using the bolt array skeleton and hole group observations as input conditions to generate a set of relative pose samples covering a near-height range. The generation and convergence of pose samples are bounded by pose constraints and the safety margin is used as the criterion for insertion allowance. Candidates are generated and scored for the samples, and the pose estimation results and confidence range are output, so that the estimation results directly serve the one-time, pry-free insertion of the steel column base plate. The insertion constraint added to the candidate generation and scoring process is a verification process that embeds the safety margin and the insertion rules formed by plate thickness and chamfer into the candidate pose: For each pose candidate, the allowable lateral offset and tilt amplitude are calculated layer by layer according to the proximity height; the hole group center and bolt center are checked layer by layer while the conditions are applied, and the prohibited area must not be touched and the pose limit must not be exceeded; any candidate that does not meet the insertion rules is not included in the valid set, thus avoiding prying and scratching from the source; The elimination of predicted interference solutions involves deleting solutions from the candidate pose set that would cause contact between the hole wall and the bolt, scraping between the bottom plate boundary and adjacent components, or lateral jamming due to pose limitations. The criteria for judgment are the geometric coincidence relationship in the construction coordinate system, the influence of plate thickness and chamfer on the import path, and the minimum safety margin requirement. After elimination, candidates that meet the insertion constraints are retained to form pose estimation results and confidence ranges for control.

5. The method for inserting steel column base plates without prying based on diffusion-type six-degree-of-freedom pose estimation according to claim 1, wherein the insertion constraint added in candidate generation and scoring is calculated and determined using the following comparison function of minimum clearing margin and safety margin of a single candidate: ; in, The minimum clearance margin for a single candidate. In order to be in Next, perform a horizontal projection operator on the vector. Let be the center position vector of the hole. This is the center position vector of the bolt corresponding to the hole. The direction of the bolt axis. Where is the radius of the hole. Where is the bolt radius. For safety margin, It is approximately a highly discrete set. When and The roll, pitch and yaw should not exceed The upper limit of the range, and the geometry of the base plate and the bolts are not related in this pose. When they intersect, the candidate is considered a valid solution that satisfies the insertion constraints. For the height segment corresponding to the chamfer, by... The defined hierarchical weights ensure that the scoring does not weaken the gap-clearing criterion within the allowable tilt range, thus guaranteeing the feasibility of the introduction phase.

6. The method for inserting a steel column base plate without prying, based on diffusion-type six-degree-of-freedom pose estimation, as described in claim 1, is characterized in that... S4 specifically refers to: The generation of the allowed insertion posture range, which is tightened with height, is as follows: at each approach height, based on the pose estimation results and task parameters, the clearance is calculated for each candidate relative posture, and the safety margin is used as the lower limit for screening, while postures that enter the restricted area or exceed the posture limit are eliminated. Combining plate thickness and chamfer, a slight tilt is allowed within the height range of the chamfer to facilitate insertion, and the tilt and horizontal offset are gradually reduced near the hole opening and plate thickness range, so that the passability transitions from the insertion stage to simultaneous insertion of the full thickness; a monotonically tightening allowable insertion posture range is formed across the entire height range, ensuring that multiple holes can be inserted simultaneously at any height and that the clearance is not less than the safety margin. The construction of the top-down insertion channel is as follows: the aforementioned allowable insertion posture ranges are connected layer by layer in order of approximate height, and the connection path that can maintain the minimum clearance without reduction is selected first; continuous transformation of first import and then return to center is allowed in the chamfer height section, and the plate thickness range is constrained to a near-horizontal posture and the horizontal offset is restricted, so that all bolts are kept in a synchronous entry state within the same height slice; if the connection is interrupted due to the restricted area in a certain height layer, the connection is reversed to the previous height layer and a connection slice that meets the safety margin is selected again to ensure that the channel is closed throughout and there is no risk of lateral jamming.

7. The method for inserting a steel column base plate without prying, based on diffusion-type six-degree-of-freedom pose estimation as described in claim 1, wherein the allowable insertion attitude range and the rule for tightening with height are determined using a single candidate constraint function for each height layer: ; in, In order to be in The horizontal projection operator below; The center position vector of the hole; This is the center position vector of the bolt corresponding to the hole; The direction is the bolt axis. Where is the hole radius; Where the bolt radius is; This represents the horizontal position offset increment; For attitude increment; It is a linear approximation operator for the horizontal projection offset of the aperture position by the attitude increment; To accommodate the additional clearance requirements that tighten with height, the value is set at a specific value within the chamfer height range. The given small non-zero values ​​allow for the introduction of tilt, varying within the plate thickness range. Decrease monotonically increasing until convergence to a near-horizontal position; all expressions satisfying this inequality and not touching... ,and The proportions and The amplitude of each value does not cause the attitude to break through. That is, it is considered to belong to .

8. The method for inserting a steel column base plate without prying, based on diffusion-type six-degree-of-freedom pose estimation, as described in claim 1, is characterized in that... S5 specifically refers to: The method of establishing predictive control for the tubular model using the insertion constraint set as the feasible region is as follows: In the construction coordinate system, the horizontal position range, attitude range, minimum clearance lower limit, and forbidden zone provided by the insertion constraint set are used as hard constraints to construct a prediction sequence of displacement and attitude, and a nominal trajectory is formed in order of approach height; the maximum offset and maximum tilt of the bounded disturbance are used as the disturbance boundary, and a safety bandwidth is determined around the nominal trajectory so that the actual trajectory does not touch the feasible region boundary and the forbidden zone under the most unfavorable disturbance; within each approach height segment, the nominal trajectory preferentially follows the middle of the lower insertion channel. The process involves advancing along a central path while maintaining geometric consistency in the simultaneous insertion of multiple holes under constraints of attitude and safety margin. Considering the introduction characteristics of plate thickness and chamfer, a slight tilt is allowed in the chamfer height section to facilitate introduction, and the plate converges to a near-horizontal attitude within the plate thickness range. Simultaneously, the velocity limit for this height section is determined based on the remaining clearance after deducting the safety margin from the bounded disturbance, ensuring that the predicted displacement and attitude changes do not cause the clearance to fall below the safety margin. The nominal trajectory and velocity limit obtained through the above constraints and limitations are used as execution inputs for the one-time, pry-free insertion of the steel column base plate. The nominal trajectory is confined within the insertion channel. The feedback law ensures that the actual trajectory does not exceed the limits as follows: the nominal trajectory selects the center path of the insertion channel and the center of the attitude range at each approach height, so that the clearance has the maximum relative safety margin; the feedback law generates a correction effect based on the horizontal position error and attitude error between the actual trajectory and the nominal trajectory, and sets a safety bandwidth in combination with the maximum offset and maximum tilt of the bounded disturbance, so that the actual trajectory is always located around the nominal trajectory and does not touch the feasible domain boundary; when the actual trajectory approaches the boundary of the insertion constraint set or the minimum clearance approaches the lower limit of the safety margin, the feedback law triggers the reduction of the speed limit of the corresponding segment, and reduces the lateral offset and tilt amplitude while keeping the nominal trajectory within the insertion channel, ensuring that no lateral contact or prying occurs within the full thickness range; the final output is the nominal trajectory confined within the insertion channel and the speed limit of each approach height segment.

9. The method for inserting a steel column base plate without prying based on diffusion-type six-degree-of-freedom pose estimation according to claim 1, wherein wind disturbance and sway are regarded as bounded disturbances, the nominal trajectory is restricted within the insertion channel, and the determination is made using a safe bandwidth radius function for each height layer, which is defined as: ; in, For a safe bandwidth radius, The center of the pose estimation result in step S3, Let be the center position vector of the hole. The center position vector of the bolt corresponding to the registration result. The direction of the bolt axis. Where is the radius of the hole. Where is the bolt radius. For horizontal projection operators, For safety margin, To accommodate the additional clearance requirements that increase with height, This is a linear approximation operator for the horizontal projection offset of the aperture position by the attitude increment. For the maximum horizontal offset disturbance, The maximum tilt disturbance amplitude; if Then, at this altitude level, a radius can be set around the nominal trajectory. The safe bandwidth ensures that the feasible domain boundary and the minimum clearance limit are not reached under the most unfavorable disturbances and minor control errors.

10. A method for inserting a steel column base plate without prying, based on diffusion-type six-degree-of-freedom pose estimation, as described in claim 1, is characterized in that... S6 specifically refers to: The input shaping and sway suppression based on the nominal trajectory is as follows: using the nominal trajectory as the reference path, each approach height segment is decomposed into several time-weighted displacement and attitude increments. The weights and time intervals are determined based on the maximum offset and maximum tilt of the bounded disturbance, so that adjacent increments cancel each other out on the sway. Before generating each increment, the attitude and position after the increment are applied are checked with the insertion constraint set to see if they are still within the insertion channel and if the clearance is not reduced to below the safety margin. If not, the increment amplitude is compressed or the application timing is delayed. After the above shaping, a shaping command is output to suppress the sway and maintain the geometric consistency required for the simultaneous insertion of multiple holes without touching the restricted area. The high-level segment coarse alignment and swing reduction is as follows: In the high-level segment close to the height, the base plate is coarsely aligned in the horizontal plane along the nominal trajectory, so that the center of the hole group is close to the center of the bolt array skeleton, and the row and column relationship is basically consistent around the vertical axis; at the same time, under the premise of not exceeding the speed limit, the timing increment of the input shaping and swing suppression is applied, and the horizontal swing component and the swing component around the vertical axis are preferentially reduced until the horizontal offset and attitude deviation meet the tolerance limit of the switching condition and are kept within the lower insertion channel; The low-speed insertion in the low-position segment while maintaining the center of the allowable insertion posture range is as follows: In the low-position segment close to the height, insertion is performed along the nominal trajectory at a speed not exceeding the speed limit. The lateral and posture adjustment range is compressed to a slight correction near the center of the allowable insertion posture range. The shaping command is mainly vertical displacement, the posture is maintained at near horizontal and the row and column consistency required for simultaneous insertion of multiple holes is maintained. Any lateral correction must satisfy the insertion constraint set and maintain the gap clearing not less than the safety margin.

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