Mountain-based building node vertical component machine installation method

Abstract

The application discloses a mountainous building node vertical component machine installation method, relates to the technical field of building node vertical component machine installation, and comprises the following steps: performing multi-source topographic survey on a mountainous construction area, obtaining actual three-dimensional coordinates, ground slope components and local elevations of installation points, and determining terrain deviation parameters in combination with design elevations in a building information model; calculating positioning correction amounts of vertical components under non-horizontal ground surfaces according to the terrain deviation parameters, wherein the correction amounts comprehensively consider slope nonlinearity influence and foundation elevation differences, and are used for adjusting support heights and spatial postures of installation equipment; after posture adjustment is completed, the vertical components are transported to above target nodes and primary positioning is realized, so that vertical positions of component bottoms and lower structure butt joint areas meet preset accuracy requirements; and the components are controlled to slowly descend, and three-dimensional force and torque information in a contact process is collected through force sensors on end effectors when the components contact the building nodes.

Description

Technical Field

[0001] This invention relates to the field of machine installation technology for vertical components of building nodes, and in particular to a machine installation method for vertical components of building nodes in mountainous terrain. Background Technology

[0002] Mechanical installation technology for vertical components at building joints refers to the construction technique in building engineering that uses automated or intelligent machinery to replace manual labor for the high-precision hoisting, positioning, and connection of vertical load-bearing components such as columns and walls at building joints. Therefore, how to utilize advanced technologies to improve the intelligence level and safety of mechanical installation of vertical components at building joints has become one of the urgent problems to be solved.

[0003] In the field of machine installation of vertical components at building nodes, during the component docking process, due to the lack of real-time force sensing capabilities, it is impossible to accurately identify the minute positional deviations between the component and the node, which can easily lead to rigid collisions or forced insertion, resulting in structural damage or loose connections, affecting structural safety and durability. Furthermore, components are prone to swaying during hoisting due to factors such as wind and inertia. Existing technologies mostly rely on passively waiting for the sway to decay, which is inefficient and poses safety hazards, lacking effective means to actively suppress dynamic disturbances. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a machine installation method for vertical components of building nodes in mountainous terrain to solve the problems that, during component docking, the lack of real-time force sensing capability makes it impossible to accurately identify minute positional deviations between components and nodes, which can easily lead to rigid collisions or forced insertion, resulting in structural damage or loose connections, affecting structural safety and durability. Furthermore, components are prone to swaying during hoisting due to factors such as wind and inertia. Existing technologies mostly rely on passively waiting for the sway to decay, which is inefficient and poses safety hazards, lacking effective means to actively suppress dynamic disturbances.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides a machine installation method for vertical components of building nodes in mountainous terrain, comprising:

[0008] Multi-source topographic surveys were conducted in the mountainous construction area to obtain the actual three-dimensional coordinates, ground slope components, and local elevations of the installation points. The topographic deviation parameters were then determined in conjunction with the design elevations in the building information model.

[0009] The positioning correction amount of the vertical component on the non-horizontal ground surface is calculated based on the terrain deviation parameters. The correction amount takes into account the nonlinear effect of the slope and the difference in foundation elevation, and is used to adjust the support height and spatial attitude of the installed equipment.

[0010] After the attitude adjustment is completed, the vertical component is transported to the top of the target node and initially positioned so that the vertical position of the bottom of the component and the docking area of ​​the lower structure meets the preset accuracy requirements.

[0011] The control component descends slowly, and when it comes into contact with the building node, the force sensor on the end effector collects three-dimensional force and torque information during the contact process, and identifies the relative pose deviation between the component and the node based on this information.

[0012] Based on the identified pose deviation, a compliant correction command is generated to drive the end effector to make adaptive fine adjustments along the direction of minimum resistance, so that the component connection end face and node can achieve stress-free fit.

[0013] During the component hoisting process, its swing state is monitored in real time. The dynamic disturbance trend is predicted by combining the component mass, center of gravity offset and system damping characteristics. The swing is suppressed by actively adjusting the tension of the hoisting points.

[0014] Once the component is precisely positioned and fully fitted to the node, the self-locking mechanism pre-installed at the connection point is activated for mechanical locking, and the locking status is verified to form a stable force transmission path, thus completing the installation.

[0015] As a preferred embodiment of the machine installation method for vertical components of building nodes based on mountainous terrain described in this invention, the steps of performing multi-source topographic surveys on the mountainous construction area to obtain the actual three-dimensional coordinates, ground slope components, and local elevation of the installation points, and determining the terrain deviation parameters in conjunction with the design elevation in the building information model, are as follows:

[0016] The spatial location of the installation point in the geodetic coordinate system is collected using a GNSS receiver, which serves as a global reference benchmark for subsequent positioning operations.

[0017] The surface of the ground within a radius of no less than 1.5 meters centered on the point is scanned at high density using lidar to obtain raw point cloud data.

[0018] The original point cloud data is denoised to remove unstable ground points such as vegetation, gravel, and temporary obstacles, while retaining a continuous and flat set of ground points.

[0019] The processed point set is fitted to a local plane, and the direction of the normal vector of the plane reflects the actual tilt of the ground in that region.

[0020] Based on the projection relationship of the normal vector in the X and Y axes, calculate the angle between it and the horizontal plane, and denot it as the ground slope component θ. x With θ γ ;

[0021] Calculate the average elevation of all points on this local plane, and denot it as the measured elevation H;

[0022] Retrieve the design elevation H0 of the corresponding installation location from the building information model;

[0023] The difference between the measured elevation H and the design elevation H0 is defined as the elevation deviation ΔH;

[0024] θ x θ γ Together with ΔH, they constitute the terrain deviation parameter, which is used for subsequent positioning correction.

[0025] As a preferred embodiment of the machine installation method for vertical components of building nodes based on mountainous terrain described in this invention, the step of calculating the positioning correction amount of the vertical component on a non-horizontal surface based on terrain deviation parameters, wherein the correction amount comprehensively considers the nonlinear effects of slope and the differences in foundation elevation, and is used to adjust the support height and spatial posture of the installation equipment, specifically:

[0026] Considering that ground tilt not only causes changes in vertical height, but also causes the bottom of the component to shift horizontally due to projection distortion, and that this shift increases non-linearly with the increase of slope, a compensation mechanism including the square of the slope is introduced.

[0027] Define the total vertical correction z, the value of which is determined by the quadratic term of the ground slope angle and the linear term of the elevation deviation;

[0028] The nonlinear compensation relationship is established, and the expression is:

[0029]

[0030] Where, θ x Let θ be the ground slope angle in the X direction. y ΔH represents the ground slope angle in the Y direction, and ΔH represents the elevation deviation.

[0031] Coefficients a and b represent the weights of the influence of the square term of the slope in the X and Y directions on the vertical correction, respectively.

[0032] The coefficient c represents the linear contribution of the elevation deviation to the correction amount, and its value is related to the bearing capacity of the foundation and the magnitude of the component load.

[0033] The calculated correction amount z is used as the target adjustment value and input to the attitude control system of the installed equipment. The attitude control system decomposes the total correction amount z into the stroke increment required by each support leg according to the geometric configuration of the equipment base frame.

[0034] The hydraulic actuator is driven to synchronously adjust the extension and retraction length of each outrigger, so that the platform on the equipment can complete tilt compensation and height alignment in three-dimensional space.

[0035] As a preferred embodiment of the machine installation method for vertical components of building nodes based on mountainous terrain described in this invention, the step of transporting the vertical component above the target node and achieving preliminary positioning after completing the attitude adjustment, so that the vertical position of the bottom of the component and the docking area of ​​the lower structure meets the preset accuracy requirements, specifically:

[0036] Activate the robotic arm or truss conveyor mechanism on the installation equipment to clamp the prepared vertical component; control the component to move along the safe trajectory toward the target node according to the preset spatial path in the building information model;

[0037] During the route planning process, identified terrain obstacles are avoided to ensure that the lowest point of the component is always higher than the maximum ground undulation height during transportation;

[0038] When the component approaches directly above the target node, the visual recognition system is activated to capture the preset optical positioning marks on the substructure.

[0039] Based on the positional offset of the marked image in the camera's field of view, calculate the projection deviation of the current central axis of the component and the central axis of the target node on the horizontal plane;

[0040] Adjust the spatial position of the robotic arm's end effector to eliminate the deviation and align the center of the bottom connecting end face of the component with the center of the target node;

[0041] At the same time, adjust the orientation of the component so that the normal of its connecting end face is parallel to the normal of the target node surface, and control the tilt angle within the allowable range.

[0042] After the above adjustments are completed, the component is in a preparatory state ready to enter the docking stage, achieving preliminary positioning.

[0043] As a preferred embodiment of the machine installation method for vertical components of building nodes based on mountainous terrain described in this invention, the controlled component descends slowly, and when it comes into contact with the building node, a force sensor on the end effector collects three-dimensional force and torque information during the contact process, and identifies the relative pose deviation between the component and the node based on this information, specifically:

[0044] The control component falls vertically at a constant low speed until its bottom end makes physical contact with the surface of the lower node.

[0045] At the moment of contact, the six-dimensional force sensor installed in the end effector outputs triaxial force and triaxial torque signals in real time;

[0046] The triaxial force includes forces acting along the X, Y, and Z directions, denoted as F respectively. x F γ F z ;

[0047] The triaxial torque includes torques about the X, Y, and Z axes, denoted as M respectively. x M γ M z ;

[0048] When the force F in the Z direction z When the preset contact threshold is exceeded, it is determined that the component has made contact with the node;

[0049] If a significant non-zero lateral force appears in the X or Y direction at this time, it indicates that the edge of the component has made off-center contact with the node surface, and there is a horizontal center offset.

[0050] If a non-zero torque is detected about the X or Y axis, it further indicates that there is an angular deviation between the component connection end face and the node surface, i.e., tilting has occurred.

[0051] To quantify the degree of offset, a horizontal offset d is defined. x With d γ Its value is determined by both the lateral force and the system stiffness characteristics;

[0052] Establish a mapping relationship; the expression is:

[0053] d x =k f F x ,d y =k f F y ;

[0054] Where, k f The force-displacement conversion coefficient is determined by the stiffness of the end effector, the elastic modulus of the component material, and the contact characteristics of the connection interface.

[0055] To quantify the degree of tilt, the tilt angle α around the X-axis is defined. x Inclination angle α around the Y-axis γ ;

[0056] Considering that the torque is generated by eccentric force and its magnitude is related to the length of the lever arm, an effective lever arm length L is introduced, which is determined by the geometric dimensions of the component and the position of the contact point;

[0057] The angle recognition relationship is established, and the expression is:

[0058] α x =k m M y / L,α y =k m Mx / L;

[0059] Where, k m This is the torque-to-angle conversion coefficient, the value of which is obtained from the overall system compliance and sensor sensitivity calibration.

[0060] Comprehensive d x d y α x α y Generate a complete pose deviation vector, which serves as the input for subsequent compliance correction.

[0061] As a preferred embodiment of the machine installation method for vertical components of building nodes based on mountainous terrain described in this invention, the step of generating a compliant correction command based on the identified posture deviation and driving the end effector to perform adaptive fine-tuning along the direction of least resistance, so that the component connection end face and the node achieve stress-free fit, specifically includes:

[0062] A force feedback-guided compliant control strategy is adopted to avoid structural damage caused by rigid connections;

[0063] Establish a compliant control mapping relationship so that the end effector can automatically generate a reverse displacement response when subjected to external contact force;

[0064] Define a compliance stiffness matrix K, whose diagonal elements correspond to the compliance coefficients in the three translational directions X, Y, and Z, respectively;

[0065] Among them, the off-diagonal elements are zero, indicating that each direction is controlled independently;

[0066] Based on the horizontal offset d x With d y Combined with the currently detected lateral force F x With F y The required corrective displacement vector δ is calculated using the following expression:

[0067] δ=K -1 f;

[0068] Where f is the currently detected lateral force vector, and its components are (F x ,F y ,0);

[0069] The control end effector performs translation compensation according to δ to eliminate horizontal offset between components and nodes;

[0070] After translation, adjust the rotation angles around the X and Y axes to make the normal of the component connection end face completely coincide with the normal of the node surface;

[0071] The rotation angle is adjusted based on α. x With α y conduct;

[0072] Throughout the fine-tuning process, maintain a constant downward pressure in the Z direction to avoid damage to the connection points caused by forced insertion;

[0073] When the lateral force and torque both tend to zero within multiple consecutive sampling periods, and the contact pressure is uniformly distributed, it is determined that the component and the node achieve stress-free bonding.

[0074] As a preferred embodiment of the machine installation method for vertical components of building nodes in mountainous terrain described in this invention, the method involves: during the component hoisting process, real-time monitoring of its swaying state, prediction of dynamic disturbance trends based on component mass, center of gravity shift, and system damping characteristics, and suppression of swaying by actively adjusting the tension of the hoisting points, specifically:

[0075] An inertial measurement unit is installed at the top of the vertical component to continuously collect its angular velocity and angular acceleration data;

[0076] Determine the equivalent moment of inertia I about the lifting point based on the component's mass m, geometric length, and lifting point location;

[0077] Define the swing angle φ as the angle between the central axis of the component and the vertical line, and its first derivative is... Angular velocity, second derivative Indicates angular acceleration;

[0078] Considering that the center of gravity of the component may be offset, or the lifting equipment may be installed asymmetrically, resulting in an eccentric disturbance moment during the swing process;

[0079] The magnitude of this torque is related to the equivalent eccentricity e, which is determined by the mass distribution of the component and the geometric relationship of the lifting point.

[0080] Establish the dynamic equations including the eccentric disturbance term, as follows:

[0081]

[0082] Where c is the system's equivalent damping coefficient, g is the gravitational acceleration, and T is the externally applied active control torque;

[0083] When φ exceeds the safety threshold, the swing trend is predicted according to the equation, and the required reverse restoring torque T is calculated.

[0084] The tension adjustment mechanism that distributes T to multiple slings applies a restoring torque by increasing the tension of the sling on the windward side or swinging forward.

[0085] It achieves active suppression of swaying, accelerates oscillation decay, and ensures stability during the hoisting process.

[0086] Secondly, the present invention provides a machine installation device for vertical components of building nodes in mountainous terrain, comprising:

[0087] The assembly includes a mounting platform, a drive mechanism located on one side of the mounting platform, a transmission assembly located at the bottom of the drive mechanism, a hydraulic component located at the end of the transmission assembly, a diamond-shaped connecting frame fixedly connected to the end of the hydraulic component, and a worktable located on the top of the diamond-shaped connecting frame.

[0088] The drive mechanism includes a drive motor and an output shaft;

[0089] The transmission assembly includes a transmission belt, transmission teeth, and transmission rollers;

[0090] The drive mechanism is used to drive the transmission assembly to provide transmission pressure to the hydraulic component.

[0091] Thirdly, the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, wherein when the computer program is executed by the processor, it implements any step of the machine installation method for vertical components of building nodes in mountainous terrain as described in the first aspect of the present invention.

[0092] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, it implements any step of the machine installation method for vertical components of building nodes in mountainous terrain as described in the first aspect of the present invention.

[0093] The beneficial effects of this invention are as follows: By obtaining the actual three-dimensional coordinates, ground slope components, and local elevation of the installation point through multi-source topographic surveying, and combining this with a building information model to determine the terrain deviation parameters, the irregularity of the mountainous construction environment can be accurately quantified. Based on these terrain deviation parameters, a nonlinear compensation mechanism including the square of the slope term is introduced to calculate the positioning correction, effectively solving the positioning error problem caused by projection distortion on inclined surfaces using traditional methods. The drive mechanism of the installation equipment drives the hydraulic components through a transmission assembly. The ends of the hydraulic components are connected to a diamond-shaped connecting frame and a worktable, enabling highly stable attitude adjustment and support. During the component docking stage, a six-dimensional force sensor on the end effector collects three-dimensional force and torque information in real time during the contact process. Combined with a force feedback compliant control strategy, a correction command is generated to drive the end effector to adaptively fine-tune along the direction of least resistance, achieving stress-free contact between the component and the node and avoiding rigid collision damage. During the hoisting process, the swaying state is monitored by an inertial measurement unit, and the disturbance trend is predicted by combining the component dynamics model and the tension of the hoisting points is actively adjusted to effectively suppress swaying. Attached Figure Description

[0094] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0095] Figure 1 This is a flowchart of the machine installation method for vertical components of building nodes in mountainous terrain in Example 1.

[0096] Figure 2 This is a schematic diagram of the machine installation equipment for vertical components of building nodes in mountainous terrain in Example 1.

[0097] Figure 3 This is a schematic diagram of the transmission component structure in Example 1.

[0098] In the diagram: 101, mounting platform; 102, drive mechanism; 103, transmission assembly; 104, hydraulic components; 105, diamond-shaped connecting frame; 106, workbench. Detailed Implementation

[0099] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0100] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0101] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0102] Example, refer to Figure 1 , Figure 2 and Figure 3 This embodiment of the invention provides a machine installation method for vertical components of building nodes in mountainous terrain, comprising the following steps:

[0103] S1. Conduct multi-source topographic surveys of the mountainous construction area to obtain the actual three-dimensional coordinates, ground slope components, and local elevations of the installation points, and determine the topographic deviation parameters in conjunction with the design elevations in the building information model.

[0104] Furthermore, the spatial location of the installation point in the geodetic coordinate system is collected using a GNSS receiver, which serves as a global reference benchmark for subsequent positioning operations.

[0105] The surface of the ground within a radius of no less than 1.5 meters centered on the point is scanned at high density using lidar to obtain raw point cloud data.

[0106] The original point cloud data is denoised to remove unstable ground points such as vegetation, gravel, and temporary obstacles, while retaining a continuous and flat set of ground points.

[0107] The processed point set is fitted to a local plane, and the direction of the normal vector of the plane reflects the actual tilt of the ground in that region.

[0108] Based on the projection relationship of the normal vector in the X and Y axes, calculate the angle between it and the horizontal plane, and denot it as the ground slope component θ. x With θ γ ;

[0109] Calculate the average elevation of all points on this local plane, and denot it as the measured elevation H;

[0110] Retrieve the design elevation H0 of the corresponding installation location from the building information model;

[0111] The difference between the measured elevation H and the design elevation H0 is defined as the elevation deviation ΔH;

[0112] θ x θ γ Together with ΔH, they constitute the terrain deviation parameter, which is used for subsequent positioning correction;

[0113] It should be noted that the measurement method that combines GNSS and lidar can take into account both global positioning accuracy and local terrain details. Through point cloud denoising and plane fitting, the influence of temporary interference can be effectively eliminated, ensuring that the acquired terrain deviation parameters truly reflect the stability of the foundation bearing surface, and providing a reliable data foundation for subsequent high-precision attitude adjustment.

[0114] S2. Calculate the positioning correction amount of the vertical component on the non-horizontal ground surface based on the terrain deviation parameters. The correction amount takes into account the nonlinear effect of the slope and the difference in foundation elevation, and is used to adjust the support height and spatial attitude of the installed equipment.

[0115] Furthermore, considering that ground tilt not only causes changes in vertical height, but also causes the bottom of the component to shift horizontally due to projection distortion, and that this shift increases non-linearly with the increase of slope, a compensation mechanism including the square of the slope is introduced.

[0116] Define the total vertical correction z, the value of which is determined by the quadratic term of the ground slope angle and the linear term of the elevation deviation;

[0117] The nonlinear compensation relationship is established, and the expression is:

[0118]

[0119] Where, θ x Let θ be the ground slope angle in the X direction. y ΔH represents the ground slope angle in the Y direction, and ΔH represents the elevation deviation.

[0120] Coefficients a and b represent the weights of the influence of the square term of the slope in the X and Y directions on the vertical correction, respectively.

[0121] The coefficient c represents the linear contribution of the elevation deviation to the correction amount, and its value is related to the bearing capacity of the foundation and the magnitude of the component load.

[0122] The calculated correction amount z is used as the target adjustment value and input to the attitude control system of the installed equipment. The attitude control system decomposes the total correction amount z into the stroke increment required by each support leg according to the geometric configuration of the equipment base frame.

[0123] The hydraulic actuator is driven to synchronously adjust the extension and retraction length of each outrigger, so that the platform on the equipment can complete tilt compensation and height alignment in three-dimensional space;

[0124] It should be noted that the introduction of a nonlinear compensation mechanism based on the slope square term fully considers the nonlinear change in vertical height caused by tilted projection under steep slope conditions, avoids the residual error caused by traditional linear correction, and improves the attitude alignment accuracy and structural safety of the installed equipment in complex mountainous environments.

[0125] S3. After completing the attitude adjustment, the vertical component is transported to the top of the target node and initially positioned so that the vertical position of the bottom of the component and the docking area of ​​the lower structure meets the preset accuracy requirements.

[0126] Furthermore, activate the robotic arm or gantry conveyor on the installation equipment to clamp the prepared vertical components;

[0127] Based on the pre-set spatial path in the building information model, control the components to move towards the target node along a safe trajectory;

[0128] During the route planning process, identified terrain obstacles are avoided to ensure that the lowest point of the component is always higher than the maximum ground undulation height during transportation;

[0129] When the component approaches directly above the target node, the visual recognition system is activated to capture the preset optical positioning marks on the substructure.

[0130] Based on the positional offset of the marked image in the camera's field of view, calculate the projection deviation of the current central axis of the component and the central axis of the target node on the horizontal plane;

[0131] Adjust the spatial position of the robotic arm's end effector to eliminate the deviation and align the center of the bottom connecting end face of the component with the center of the target node;

[0132] At the same time, adjust the orientation of the component so that the normal of its connecting end face is parallel to the normal of the target node surface, and control the tilt angle within the allowable range.

[0133] After the above adjustments are completed, the component is in a preparatory state ready to enter the docking stage, achieving initial positioning;

[0134] It should be noted that by combining building information modeling for path planning and visual guidance positioning, autonomous obstacle avoidance and high-precision alignment during component transportation are achieved. By dynamically adjusting the posture of the robotic arm to eliminate horizontal offset and angular deviation, the components are ensured to be in an ideal preparatory state before entering the docking stage, which greatly improves the reliability and efficiency of preliminary positioning.

[0135] S4. The control component descends slowly. When it comes into contact with the building node, the force sensor on the end effector collects three-dimensional force and torque information during the contact process, and identifies the relative pose deviation between the component and the node based on this information.

[0136] Furthermore, the control component falls vertically at a constant low speed until its bottom end makes physical contact with the surface of the lower node;

[0137] At the moment of contact, the six-dimensional force sensor installed in the end effector outputs triaxial force and triaxial torque signals in real time;

[0138] The triaxial force includes forces acting along the X, Y, and Z directions, denoted as F respectively. x F γ F z ;

[0139] The triaxial torque includes torques about the X, Y, and Z axes, denoted as M respectively. x M γ M z ;

[0140] When the force F in the Z direction z When the preset contact threshold is exceeded, it is determined that the component has made contact with the node;

[0141] If a significant non-zero lateral force appears in the X or Y direction at this time, it indicates that the edge of the component has made off-center contact with the node surface, and there is a horizontal center offset.

[0142] If a non-zero torque is detected about the X or Y axis, it further indicates that there is an angular deviation between the component connection end face and the node surface, i.e., tilting has occurred.

[0143] To quantify the degree of offset, a horizontal offset d is defined. x With d γ Its value is determined by both the lateral force and the system stiffness characteristics;

[0144] Establish a mapping relationship; the expression is:

[0145] d x =k f F x ,d y =k f F y ;

[0146] Where, k f The force-displacement conversion coefficient is determined by the stiffness of the end effector, the elastic modulus of the component material, and the contact characteristics of the connection interface.

[0147] To quantify the degree of tilt, the tilt angle α around the X-axis is defined. x Inclination angle α around the Y-axis γ ;

[0148] Considering that the torque is generated by eccentric force and its magnitude is related to the length of the lever arm, an effective lever arm length L is introduced, which is determined by the geometric dimensions of the component and the position of the contact point;

[0149] The angle recognition relationship is established, and the expression is:

[0150] α x =k m M y / L,α y =k m M x / L;

[0151] Where, k m This is the torque-to-angle conversion coefficient, the value of which is obtained from the overall system compliance and sensor sensitivity calibration.

[0152] Comprehensive d x d y α x α y Generate a complete pose deviation vector as the input for subsequent compliance correction;

[0153] It should be noted that by using a six-dimensional force sensor to perceive contact force and torque in real time and constructing a force-displacement and torque-angle mapping relationship, it is possible to accurately quantify the minute pose deviations between components and nodes, providing high-precision input for subsequent compliant control and effectively avoiding structural damage or connection failure caused by forced downward pressure.

[0154] S5. Generate a compliant correction command based on the identified posture deviation, drive the end effector to make adaptive fine adjustments along the direction of minimum resistance, so that the component connection end face and node can achieve stress-free fit.

[0155] Furthermore, a force feedback-guided compliant control strategy is adopted to avoid structural damage caused by rigid connections;

[0156] Establish a compliant control mapping relationship so that the end effector can automatically generate a reverse displacement response when subjected to external contact force;

[0157] Define a compliance stiffness matrix K, whose diagonal elements correspond to the compliance coefficients in the three translational directions X, Y, and Z, respectively;

[0158] Among them, the off-diagonal elements are zero, indicating that each direction is controlled independently;

[0159] Based on the horizontal offset d x With d y Combined with the currently detected lateral force F x With F y The required corrective displacement vector δ is calculated using the following expression:

[0160] δ=K -1 f;

[0161] Where f is the currently detected lateral force vector, and its components are (F x ,F y ,0);

[0162] The control end effector performs translation compensation according to δ to eliminate horizontal offset between components and nodes;

[0163] After translation, adjust the rotation angles around the X and Y axes to make the normal of the component connection end face completely coincide with the normal of the node surface;

[0164] The rotation angle is adjusted based on α. x With α y conduct;

[0165] Throughout the fine-tuning process, maintain a constant downward pressure in the Z direction to avoid damage to the connection points caused by forced insertion;

[0166] When the lateral force and torque both tend to zero within multiple consecutive sampling periods, and the contact pressure is uniformly distributed, it is determined that the component and the node achieve stress-free bonding.

[0167] It should be noted that the force feedback-based compliant correction strategy achieves adaptive fine-tuning of the end effector by setting a compliant stiffness matrix. It can maintain a constant downward pressure in the Z direction while compensating for horizontal displacement and rotation angle along the direction of minimum resistance, ensuring smooth and stress-free fit of the component connection end face, and improving docking quality and connection reliability.

[0168] S6. During the component hoisting process, monitor its swing state in real time, predict the dynamic disturbance trend by combining the component mass, center of gravity offset and system damping characteristics, and suppress the swing by actively adjusting the tension of the hoisting point.

[0169] Furthermore, an inertial measurement unit is installed at the top of the vertical component to continuously collect its angular velocity and angular acceleration data;

[0170] Determine the equivalent moment of inertia I about the lifting point based on the component's mass m, geometric length, and lifting point location;

[0171] Define the swing angle φ as the angle between the central axis of the component and the vertical line, and its first derivative is... Angular velocity, second derivative Indicates angular acceleration;

[0172] Considering that the center of gravity of the component may be offset, or the lifting equipment may be installed asymmetrically, resulting in an eccentric disturbance moment during the swing process;

[0173] The magnitude of this torque is related to the equivalent eccentricity e, which is determined by the mass distribution of the component and the geometric relationship of the lifting point.

[0174] Establish the dynamic equations including the eccentric disturbance term, as follows:

[0175]

[0176] Where c is the system's equivalent damping coefficient, g is the gravitational acceleration, and T is the externally applied active control torque;

[0177] When φ exceeds the safety threshold, the swing trend is predicted according to the equation, and the required reverse restoring torque T is calculated.

[0178] The tension adjustment mechanism that distributes T to multiple slings applies a restoring torque by increasing the tension of the sling on the windward side or swinging forward.

[0179] It achieves active suppression of swaying, accelerates oscillation decay, and ensures stability during the hoisting process;

[0180] It should be noted that by collecting the component's swing dynamics in real time through the inertial measurement unit, combining the swing trend with the dynamic model that includes eccentric disturbance terms, and actively adjusting the tension of the multi-point slings to apply restoring torque, the swing during the hoisting process can be effectively suppressed, thereby improving the safety and stability of high-altitude operations.

[0181] S7. After the component is accurately positioned and fully fitted to the node, the self-locking mechanism preset in the connection part is activated to mechanically lock it, and the locking state is verified to form a stable force transmission path and complete the installation.

[0182] It should be noted that the activation and locking status verification of the self-locking mechanism form a closed-loop control, ensuring the reliability of the mechanical connection and the integrity of the force transmission path. The installation is considered complete only after the locking is confirmed to be in place, which fundamentally guarantees the safety and durability of the structural connection.

[0183] This embodiment also provides a machine installation device for vertical components of building nodes in mountainous terrain, including:

[0184] Mounting platform 101, drive mechanism 102 disposed on one side of mounting platform 101, transmission assembly 103 disposed at the bottom of drive mechanism 102, hydraulic component 104 disposed at the end of transmission assembly 103, diamond-shaped connecting frame 105 fixedly connected to the end of hydraulic component 104, and worktable 106 disposed on the top of diamond-shaped connecting frame 105.

[0185] The drive mechanism 102 includes a drive motor and an output shaft;

[0186] The transmission assembly 103 includes a transmission belt, transmission teeth, and transmission rollers;

[0187] The drive mechanism 102 is used to drive the transmission assembly 103 to provide transmission pressure to the hydraulic component 104.

[0188] In use, the mounting platform 101 is placed near the target installation point in the mountainous construction area. It is started by the drive motor in the drive mechanism 102, and the power is transmitted to the transmission component 103 through the output shaft. The rotational motion is converted into stable mechanical transmission by the synergistic action of the transmission belt, transmission teeth and transmission rollers, providing continuous transmission pressure to the hydraulic component 104. The hydraulic component 104 is extended and retracted under pressure, which causes the diamond connecting frame 105 connected to its end to deform, thereby accurately adjusting the spatial height and posture of the worktable 106 to compensate for the terrain slope and elevation deviation. After the worktable 106 is leveled, it serves as an operating platform for the hoisting and positioning of vertical components. With the help of a robotic arm or hoisting device, the components are transported to the target node. During the descent and docking process, the sensor system integrated on the end effector realizes force perception and compliant correction, and finally completes the high-precision stress-free installation of the components.

[0189] This embodiment also provides a computer device applicable to the machine installation method of vertical components of building nodes in mountainous terrain, including: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to realize the machine installation method of vertical components of building nodes in mountainous terrain as proposed in the above embodiment.

[0190] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0191] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements the machine installation method for vertical components of building nodes in mountainous terrain as proposed in the above embodiments. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0192] In summary, this invention obtains the actual three-dimensional coordinates, ground slope components, and local elevation of the installation point through multi-source topographic surveying, and determines the terrain deviation parameters by combining them with a building information model. This allows for precise quantification of the irregularities in mountainous construction environments. Based on these terrain deviation parameters, a nonlinear compensation mechanism including the square of the slope term is introduced to calculate the positioning correction, effectively solving the positioning error problem caused by projection distortion on inclined surfaces using traditional methods. The drive mechanism 102 of the installation equipment drives the hydraulic component 104 through the transmission component 103. The end of the hydraulic component 104 is connected to the diamond-shaped connecting frame 105 and the worktable 106, enabling highly stable attitude adjustment and support. During the component docking stage, a six-dimensional force sensor on the end effector collects three-dimensional force and torque information in real time during the contact process. Combined with a force feedback compliant control strategy, a correction command is generated to drive the end effector to adaptively fine-tune along the direction of least resistance, achieving stress-free contact between the component and the node and avoiding rigid collision damage. During hoisting, the swaying state is monitored by an inertial measurement unit, and the disturbance trend is predicted by combining the component dynamics model and actively adjusting the tension of the hoisting point to effectively suppress swaying.

[0193] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A machine installation method for vertical components of building nodes in mountainous terrain, characterized in that: include: Multi-source topographic surveys were conducted in the mountainous construction area to obtain the actual three-dimensional coordinates, ground slope components, and local elevations of the installation points. The topographic deviation parameters were then determined in conjunction with the design elevations in the building information model. The positioning correction amount of the vertical component on the non-horizontal ground surface is calculated based on the terrain deviation parameters. The correction amount takes into account the nonlinear effect of the slope and the difference in foundation elevation, and is used to adjust the support height and spatial attitude of the installed equipment. After the attitude adjustment is completed, the vertical component is transported to the top of the target node and initially positioned so that the vertical position of the bottom of the component and the docking area of ​​the lower structure meets the preset accuracy requirements. The control component descends slowly, and when it comes into contact with the building node, the force sensor on the end effector collects three-dimensional force and torque information during the contact process, and identifies the relative pose deviation between the component and the node based on this information. Based on the identified pose deviation, a compliant correction command is generated to drive the end effector to make adaptive fine adjustments along the direction of minimum resistance, so that the component connection end face and node can achieve stress-free fit. During the component hoisting process, its swing state is monitored in real time. The dynamic disturbance trend is predicted by combining the component mass, center of gravity offset and system damping characteristics. The swing is suppressed by actively adjusting the tension of the hoisting points. Once the component is precisely positioned and fully fitted to the node, the self-locking mechanism pre-installed at the connection point is activated for mechanical locking, and the locking status is verified to form a stable force transmission path, thus completing the installation.

2. The machine installation method for vertical components of building nodes in mountainous terrain as described in claim 1, characterized in that: The steps for conducting multi-source topographic surveys in the mountainous construction area to obtain the actual three-dimensional coordinates, ground slope components, and local elevations of the installation points, and then determining the topographic deviation parameters by combining these with the design elevations in the building information model, are as follows: The spatial location of the installation point in the geodetic coordinate system is collected using a GNSS receiver, which serves as a global reference benchmark for subsequent positioning operations. The surface of the earth within a radius of no less than 1.5 meters centered on the point is scanned at high density using lidar to obtain raw point cloud data. The original point cloud data is denoised to remove unstable ground points such as vegetation, gravel, and temporary obstacles, while retaining a continuous and flat set of ground points. The processed point set is fitted to a local plane, and the direction of the normal vector of the plane reflects the actual tilt of the ground in that region. Based on the projection relationship of the normal vector in the X and Y axes, calculate the angle between it and the horizontal plane, and denot them as the ground slope components. and ; Calculate the average elevation of all points on this local plane, and record it as the measured elevation. ; Retrieve the design elevation of the corresponding installation location from the building information model. ; The measured elevation With design elevation The difference is defined as elevation deviation. ; Will , and Together, they constitute the terrain deviation parameters, which are used for subsequent positioning corrections.

3. The machine installation method for vertical components of building nodes in mountainous terrain as described in claim 2, characterized in that: The method involves calculating the positioning correction amount for vertical components on non-horizontal ground based on terrain deviation parameters. This correction amount comprehensively considers the nonlinear effects of slope and differences in foundation elevation, and is used to adjust the support height and spatial attitude of the installed equipment. Specifically: Considering that ground tilt not only causes changes in vertical height, but also causes the bottom of the component to shift horizontally due to projection distortion, and that this shift increases non-linearly with the increase of slope, a compensation mechanism including the square of the slope is introduced. Define the total correction amount in the vertical direction Its value is determined by the quadratic term of the ground slope angle and the linear term of the elevation deviation; The nonlinear compensation relationship is established, and the expression is: ; in, The ground slope angle in the X direction. The ground slope angle in the Y direction. This refers to elevation deviation; coefficient , The influence weights of the square terms of the slope in the X and Y directions on the vertical correction amount are respectively represented. coefficient The linear contribution of elevation deviation to the correction amount is characterized by its value, which is related to the bearing capacity of the foundation and the magnitude of the component load. The calculated correction amount The target adjustment value is input to the attitude control system of the installed equipment; the attitude control system adjusts the total correction amount according to the geometry of the equipment base frame. Break it down into the stroke increments required for each supporting leg; The hydraulic actuator is driven to synchronously adjust the extension and retraction length of each outrigger, so that the platform on the equipment can complete tilt compensation and height alignment in three-dimensional space.

4. The machine installation method for vertical components of building nodes in mountainous terrain as described in claim 3, characterized in that: After the attitude adjustment is completed, the vertical component is transported to the top of the target node and initially positioned so that the vertical position of the bottom of the component and the docking area of ​​the lower structure meets the preset accuracy requirements. Specifically: Activate the robotic arm or truss conveyor mechanism on the installation equipment to clamp the prepared vertical component; control the component to move along the safe trajectory toward the target node according to the preset spatial path in the building information model; During the route planning process, identified terrain obstacles are avoided to ensure that the lowest point of the component is always higher than the maximum ground undulation height during transportation; When the component approaches directly above the target node, the visual recognition system is activated to capture the preset optical positioning marks on the substructure. Based on the positional offset of the marked image in the camera's field of view, calculate the projection deviation of the current central axis of the component and the central axis of the target node on the horizontal plane; Adjust the spatial position of the robotic arm's end effector to eliminate the deviation and align the center of the bottom connecting end face of the component with the center of the target node; At the same time, adjust the orientation of the component so that the normal of its connecting end face is parallel to the normal of the target node surface, and control the tilt angle within the allowable range. After the above adjustments are completed, the component is in a preparatory state ready to enter the docking stage, achieving preliminary positioning.

5. The machine installation method for vertical components of building nodes in mountainous terrain as described in claim 4, characterized in that: The control component descends slowly, and when it contacts the building node, a force sensor on the end effector collects three-dimensional force and torque information during the contact process. Based on this information, the relative pose deviation between the component and the node is identified, specifically: The control component falls vertically at a constant low speed until its bottom end makes physical contact with the surface of the lower node. At the moment of contact, the six-dimensional force sensor installed in the end effector outputs triaxial force and triaxial torque signals in real time; The triaxial force includes forces acting along the X, Y, and Z directions, denoted as follows: ; The triaxial torque includes torques about the X, Y, and Z axes, denoted as follows: ; When the force in the Z direction When the preset contact threshold is exceeded, it is determined that the component has made contact with the node; If a significant non-zero lateral force appears in the X or Y direction at this time, it indicates that the edge of the component has made off-center contact with the node surface, and there is a horizontal center offset. If a non-zero torque is detected about the X or Y axis, it further indicates that there is an angular deviation between the component connection end face and the node surface, i.e., tilting has occurred. To quantify the degree of offset, a horizontal offset is defined. and Its value is determined by both the lateral force and the system stiffness characteristics; Establish a mapping relationship, the expression is: ； in, The force-displacement conversion coefficient is determined by the stiffness of the end effector, the elastic modulus of the component material, and the contact characteristics of the connection interface. To quantify the degree of tilt, the tilt angle around the X-axis is defined. Angle of tilt around the Y-axis ; Considering that the torque is generated by eccentric force and its magnitude is related to the length of the lever arm, an effective lever arm length L is introduced, which is determined by the geometric dimensions of the component and the position of the contact point; The angle recognition relationship is established, and the expression is: ； in, This is the torque-to-angle conversion coefficient, the value of which is obtained from the overall system compliance and sensor sensitivity calibration. comprehensive , , , Generate a complete pose deviation vector, which serves as the input for subsequent compliance correction.

6. The machine installation method for vertical components of building nodes in mountainous terrain as described in claim 5, characterized in that: The process of generating compliant correction commands based on the identified pose deviations, driving the end effector to adaptively fine-tune along the direction of least resistance, and achieving stress-free fit between the component connection end face and the node, specifically involves: A force feedback-guided compliant control strategy is adopted to avoid structural damage caused by rigid connections; Establish a compliant control mapping relationship so that the end effector can automatically generate a reverse displacement response when subjected to external contact force; Define a compliance stiffness matrix K, whose diagonal elements correspond to the compliance coefficients in the three translational directions X, Y, and Z, respectively; Among them, the off-diagonal elements are zero, indicating that each direction is controlled independently; Based on horizontal offset and Combined with the currently detected lateral forces and Calculate the required correction displacement vector. The expression is: ; in, The currently detected lateral force vector has the following components: , , 0); Control the end effector according to Perform translation compensation to eliminate horizontal offset between components and nodes; After translation, adjust the rotation angles around the X and Y axes to make the normal of the component connection end face completely coincide with the normal of the node surface; The basis for adjusting the rotation angle and conduct; Throughout the fine-tuning process, maintain a constant downward pressure in the Z direction to avoid damage to the connection points caused by forced insertion; When the lateral force and torque both tend to zero within multiple consecutive sampling periods, and the contact pressure is uniformly distributed, it is determined that the component and the node achieve stress-free bonding.

7. The machine installation method for vertical components of building nodes in mountainous terrain as described in claim 6, characterized in that: During the component hoisting process, its swaying state is monitored in real time. The dynamic disturbance trend is predicted by combining the component's mass, center of gravity shift, and system damping characteristics. Swaying is suppressed by actively adjusting the tension at the hoisting points. Specifically: An inertial measurement unit is installed at the top of the vertical component to continuously collect its angular velocity and angular acceleration data; Based on component quality Determine its equivalent moment of inertia about the lifting point by considering its geometric length and the location of the lifting point. ; Define the swing angle Let be the angle between the central axis of the component and the vertical line, and its first derivative. Angular velocity, second derivative Indicates angular acceleration; Considering that the center of gravity of the component may be offset, or the lifting equipment may be installed asymmetrically, resulting in an eccentric disturbance moment during the swing process; The magnitude of this torque is related to the equivalent eccentricity e, which is determined by the mass distribution of the component and the geometric relationship of the lifting point. Establish the dynamic equations including the eccentric disturbance term, as follows: ； in, The equivalent damping coefficient of the system is... It is the acceleration due to gravity. Active control torque applied externally; when When the safety threshold is exceeded, the swing trend is predicted according to the equation, and the required reverse restoring torque is calculated. ; Will The tension adjustment mechanism distributed to multiple slings applies a restoring torque by increasing the tension of the sling on the windward side or swinging forward. It achieves active suppression of swaying, accelerates oscillation decay, and ensures stability during the hoisting process.

8. A machine installation device for vertical components of building nodes in mountainous terrain, based on the machine installation method for vertical components of building nodes in mountainous terrain according to any one of claims 1 to 7, characterized in that: include: Mounting platform (101), drive mechanism (102) disposed on one side of mounting platform (101), transmission assembly (103) disposed at the bottom of drive mechanism (102), hydraulic component (104) disposed at the end of transmission assembly (103), diamond-shaped connecting frame (105) fixedly connected to the end of hydraulic component (104), and worktable (106) disposed on top of diamond-shaped connecting frame (105). The drive mechanism (102) includes a drive motor and an output shaft; The transmission assembly (103) includes a transmission belt, transmission teeth, and transmission rollers; The drive mechanism (102) is used to drive the transmission assembly (103) to provide transmission pressure to the hydraulic component (104).

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the machine installation method for vertical components of building nodes based on mountainous terrain as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the machine installation method for vertical components of building nodes based on mountainous terrain as described in any one of claims 1 to 7.

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