Prefabricated platform plate efficient mounting system based on intelligent robot

Abstract

The invention discloses a prefabricated platform plate efficient mounting system based on an intelligent robot, and relates to the field of prefabricated platform plate construction. Comprising a multi-mode high-precision measuring and positioning module which is used for measuring and positioning an installation environment, a transportation carrier and a prefabricated slab in real time, and the output end of the multi-mode high-precision measuring and positioning module is in communication connection with the input end of a central cooperative control center; the central cooperative control center is used for processing sensing data, constructing a digital twin model and carrying out task planning and motion coordination, and the output end of the central cooperative control center is connected with the input end of the six-degree-of-freedom robot posture adjusting terminal and the input end of the automatic guiding transportation and docking module; and the six-degree-of-freedom robot posture adjusting terminal is used for executing high-precision six-dimensional posture adjustment, and alignment and leveling of the prefabricated slab are achieved. The system has the advantages of high installation precision, improved efficiency, improved safety, high digital management degree and reduced labor cost.

Description

Technical Field

[0001] This invention relates to the field of precast platform slab construction, and in particular to a high-efficiency installation system for precast platform slabs based on intelligent robots. Background Technology

[0002] In modern rail transit construction, the use of prefabricated platform slabs has become the mainstream trend due to its advantages such as controllable quality, fast construction speed, and minimal environmental impact. However, the current installation of prefabricated platform slabs mainly relies on large lifting equipment (such as crawler cranes) in conjunction with manual labor, which has several drawbacks: Firstly, the installation accuracy is poor, relying on manual visual inspection and adjustment, making it difficult to achieve high-precision control of the gaps between boards and the flatness of the board surface, resulting in a large amount of subsequent rectification work; Secondly, it is inefficient. The alignment, leveling, and placement of each board is time-consuming and requires a lot of manpower, which has become a key factor restricting the construction period. Third, the safety risks are high. When heavy components are suspended at high altitudes, manual adjustment is required, which poses a threat to the safety of workers. Fourth, the degree of automation is low, making it difficult to achieve digital management and quality traceability of the installation process.

[0003] Therefore, this invention proposes a high-efficiency installation system for prefabricated platform slabs based on intelligent robots. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing an efficient installation system for prefabricated platform slabs based on intelligent robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A high-efficiency installation system for prefabricated platform slabs based on intelligent robots includes: The multimodal high-precision measurement and positioning module is used to perform real-time measurement and positioning of the installation environment, transport vehicle and prefabricated slab, and its output end is communicatively connected to the input end of the central collaborative control hub. The central collaborative control center is used to process sensing data, construct digital twin models, perform task planning and motion coordination, and its output end is connected to the input end of the six-degree-of-freedom robot posture adjustment terminal and the automatic guidance transportation and docking module, respectively. A six-degree-of-freedom robot posture adjustment terminal is used to perform high-precision six-dimensional posture adjustment to achieve the alignment and leveling of the prefabricated plate. An automatic guided transport and docking module is used to realize the transport and coarse positioning of precast slabs from the stockyard to the installation station; The human-machine collaboration and digital twin monitoring module is used to provide visual monitoring, manual intervention interface and installation data management, and it has a bidirectional communication connection with the central collaborative control center. An integrated power and safety module is provided to provide continuous power to the system and ensure the safety of human-machine collaborative operation.

[0006] Preferably, the multimodal high-precision measurement and positioning module specifically includes an environmental scanning unit, a transportation positioning unit, a terminal precision measurement unit, and an attitude monitoring unit.

[0007] Preferably, the environmental scanning unit is a three-dimensional laser scanner, used to acquire the overall point cloud model and reference information of the platform foundation pit; The transportation positioning unit includes a UWB tag and a QR code recognition camera, which are integrated into the automated guided vehicle. The terminal precision measurement unit includes a binocular vision camera and a laser tracker, which are integrated into a six-degree-of-freedom robot posture adjustment terminal. The attitude monitoring unit is a tilt sensor embedded in the prefabricated slab.

[0008] Preferably, the central collaborative control hub includes a data fusion and modeling unit, a task planning and decision-making unit, and a motion control and coordination unit; The data fusion and modeling unit receives all sensor data and generates a digital twin model that is synchronized with the physical environment in real time through algorithm fusion. The model includes the three-dimensional state of the installed components, the components to be installed, the AGV, and the robot. The task planning and decision-making unit calculates the optimal installation sequence of each prefabricated slab, the optimal path of the AGV, and the target posture parameters of the robot based on the digital twin model and the preset BIM design model, and replans in real time when encountering actual deviations. The motion control and coordination unit is responsible for decomposing the planning scheme into specific collaborative motion instructions and sending them to the AGV and the six-degree-of-freedom robot in time synchronization.

[0009] Preferably, the task planning and decision-making unit adopts an artificial intelligence-based optimization algorithm, which uses the current installation progress, AGV battery power, panel stacking position, and installation station priority as constraints, and takes the highest overall installation efficiency as the objective function to dynamically and in real time assign transportation tasks and plan paths for the AGV group. The six-degree-of-freedom robot posture adjustment terminal is a six-degree-of-freedom parallel mechanism or a high-precision servo electric cylinder array; the top of the six-degree-of-freedom robot posture adjustment terminal is connected to the board through a universal ball hinge to grasp and support the prefabricated board, and the bottom is rigidly connected to the platform of the automatic guidance and transportation module. The six-degree-of-freedom robot posture adjustment terminal drive system consists of six independent servo motors and reducers, each driving one branch chain.

[0010] Preferably, the automated guided transport and docking module is a heavy-duty Mecanum wheel omnidirectional automated guided vehicle (AGV). The navigation of the automated guided transport and docking module adopts a fusion navigation technology of UWB absolute positioning and laser SLAM; The AGV is equipped with a hydraulic or mechanical automatic locking mechanism.

[0011] Preferably, the human-machine collaboration and digital twin monitoring module includes a monitoring terminal, a digital twin engine, and a data management unit; The monitoring terminal is a large-screen display device set in the on-site command center and a mobile terminal used by the operator. Its display content includes the real-time position of the AGV, the real-time attitude of the precast slab, the equipment status and progress information. The data management unit automatically records the unique number, final installation coordinates, attitude, installation timestamp, and sensor data during the installation process for each board, and supports the generation of quality reports and progress analysis charts.

[0012] Preferably, the integrated power and safety protection module includes a power unit and a safety unit.

[0013] Preferably, the power unit uses a lithium-ion battery pack as its energy source to provide driving power for the AGV and the six-degree-of-freedom robot; The safety device has a built-in multi-level protection system, including: Active safety protection based on lidar; Distributed emergency stop button network.

[0014] Preferably, its operating logic includes the following steps: S1: Scan the environment using the measurement module to build a digital twin base model of the site; S2: Import the BIM design model through the monitoring module, and the central hub performs model matching and task planning; S3: The AGV automatically travels to the yard and carries the target precast slab; S4: The AGV autonomously navigates along the planned path to the vicinity of the installation station and completes coarse positioning; S5: The terminal precision measurement unit starts, scans adjacent boards, and measures the current deviation; S6: The central control calculates the attitude adjustment parameters and instructs the six-degree-of-freedom robot to perform fine-tuning; S7: After fine-tuning, the AGV and the robot work together to release and install the panels; S8: The data management unit records the installation results, and the AGV returns to execute the next task, repeating the cycle until all panels are installed.

[0015] The beneficial effects of this invention are as follows: High installation precision: Robotic fine-tuning ensures that indicators such as panel gap width and flatness are far superior to manual standards, improving the overall project quality.

[0016] Efficiency Improvement: The fully automated process reduces the installation time of a single board from several hours to tens of minutes, significantly shortening the construction period.

[0017] Improved safety: It avoids high-risk operations for personnel at heights and under heavy structures, completely eliminating corresponding safety hazards.

[0018] High degree of digital management: Generates complete installation digital archives, providing a data foundation for full lifecycle management and facilitating intelligent operation and maintenance.

[0019] Reduced labor costs: The number of operators required is greatly reduced, and the intensity of labor is significantly reduced. Attached Figure Description

[0020] Figure 1 This is a working logic diagram of a high-efficiency installation system for prefabricated platform slabs based on intelligent robots proposed in this invention. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Example 1: A high-efficiency installation system for prefabricated platform slabs based on intelligent robots, comprising: The multimodal high-precision measurement and positioning module is used for all-round, multi-scale real-time measurement and positioning of the installation environment, transport vehicle, and prefabricated slabs. Its output end is communicatively connected to the input end of the central collaborative control hub. As the "sensing organ" of the system, it provides all-round, real-time spatial data for the entire installation process, which is a prerequisite for achieving precise installation. Each sensor works in stages under the scheduling of the central control hub. The environmental scanning unit performs initial global modeling; the transport positioning unit realizes AGV navigation; and the terminal precision measurement unit starts in the fine-tuning stage. Through image recognition and laser ranging, it feeds back the data to the control hub in real time, forming a full-scale, seamless measurement capability from "macro environment" to "micro interface", providing indisputable data authority for automated installation. The central collaborative control hub is used to process sensing data, construct digital twin models, and perform task planning and motion coordination. Its output end is connected to the input end of the six-degree-of-freedom robot posture adjustment terminal and the automatic guidance, transportation and docking module, respectively. As the "brain" of the system, it is responsible for processing all sensing data, planning operation tasks, coordinating the actions of each module, and executing the core control algorithm. This hub runs on a high-performance industrial computer, and its control cycle is: "sensing data input → digital twin model update → planning algorithm solution → generation of collaborative control instructions → issuance and execution". The whole process runs automatically without human intervention, realizing a leap from "single machine control" to "system collaborative control", and is the core of the system to achieve intelligence and automation. The six-degree-of-freedom robot posture adjustment terminal is used to perform high-precision six-dimensional posture adjustment to achieve the alignment and leveling of precast slabs. As the "dexterous hands" of the system, it is responsible for fine-tuning all six degrees of freedom of the precast slabs at the final work station to achieve precise alignment and leveling. Receiving instructions from the central hub, six servo motors move in coordination to drive the platform to translate in the X, Y, and Z directions and rotate around three coordinate axes (Rx, Ry, Rz) at the same time. This allows for the adjustment of the spatial posture of the precast slabs with extremely high precision, making them perfectly fit with adjacent slabs and interfaces. It replaces the traditional manual prying and shim adjustment, realizing the unmanned, precise, and automated posture adjustment of heavy components, and improving the installation accuracy by an order of magnitude. The automated guided transport and docking module is used to transport and roughly position precast slabs from the storage yard to the installation station. As the "legs" of the system, it is responsible for automatically, smoothly and safely transporting precast slabs from the storage area to the installation station. The AGV autonomously travels to the slab storage point according to the path planned by the central hub. The slabs are placed on the AGV and locked by loading equipment such as gantry cranes. The AGV then autonomously travels to the vicinity of the installation point. Under the command of the central hub, it uses its omnidirectional movement capability to perform coarse positioning, preparing for the subsequent fine adjustment of the robot. This realizes the fully unmanned logistics of slabs from storage to the work station, which greatly reduces the time occupied by cranes and the cost of manual transportation, and improves the continuity of the overall operation process. The human-machine collaboration and digital twin monitoring module provides visual monitoring, manual intervention interface, and installation data management. It has a two-way communication connection with the central collaborative control center and serves as the system's "interactive window," providing operators with an interface for monitoring, intervention, and management, and realizing digital mapping of the entire process. This module communicates with the central control center in real time to synchronize all data. Operators can issue commands such as start, pause, and emergency stop through the interface, or switch to semi-automatic mode for manual assistance in special circumstances. This achieves transparency, visualization, and traceability of the construction process, greatly improving management efficiency and safety. The integrated power and safety module provides continuous power to the system and ensures the safety of human-machine collaborative operations. As the "heart and immune system" of the system, it provides power and ensures the safe and reliable operation of the entire system. The power unit intelligently manages energy distribution, and the safety device forms an invisible protective net to ensure absolute safety when humans and machines work together. It provides green and continuous power output and builds a comprehensive safety barrier, which is the key guarantee for the practical application of the system.

[0024] The multimodal high-precision measurement and positioning module specifically includes an environmental scanning unit, a transportation positioning unit, a terminal precision measurement unit, and an attitude monitoring unit; The environmental scanning unit is a three-dimensional laser scanner, used to acquire the overall point cloud model and reference information of the platform foundation pit; The transportation positioning unit includes a UWB tag and a QR code recognition camera, which are integrated into the automated guided vehicle to achieve centimeter-level positioning and navigation. The terminal fine measurement unit includes a binocular vision camera and a laser tracker, which are integrated into the six-degree-of-freedom robot posture adjustment terminal and are used to perform sub-millimeter-level relative position measurements during the fine adjustment stage. The attitude monitoring unit is a tilt sensor embedded in the prefabricated plate, used to provide real-time feedback on the attitude angle of the plate. The data from each unit, once integrated, constitutes the sole basis for system decision-making and control.

[0025] The central collaborative control hub includes a data fusion and modeling unit, a task planning and decision-making unit, and a motion control and coordination unit. The data fusion and modeling unit receives all sensor data and generates a digital twin model that is synchronized with the physical environment in real time through algorithm fusion. The model includes the three-dimensional state of the installed components, the components to be installed, the AGV, and the robot. The task planning and decision-making unit calculates the optimal installation sequence of each prefabricated slab, the optimal path of the AGV, and the target posture parameters of the robot based on the digital twin model and the preset BIM design model, and replans in real time when encountering actual deviations. The motion control and coordination unit is responsible for decomposing the planning scheme into specific collaborative motion instructions and sending them to the AGV and the six-degree-of-freedom robot in time synchronization to ensure smooth and synchronized movement of both and avoid rigid impacts; this central hub is the core of the system to realize intelligent collaborative decision-making and automatic execution.

[0026] The task planning and decision-making unit adopts an artificial intelligence-based optimization algorithm. It uses the current installation progress, AGV battery power, panel stacking position, and installation station priority as constraints, and takes the highest overall installation efficiency as the objective function. It dynamically and in real time assigns transportation tasks and plans routes to the AGV group, thereby achieving optimal scheduling under multi-task parallelism, avoiding equipment idleness and path conflicts, and maximizing the overall operation efficiency at the system level.

[0027] The six-degree-of-freedom robot posture adjustment terminal is a six-degree-of-freedom parallel mechanism (Stewart platform) or a high-precision servo electric cylinder array; the top of the six-degree-of-freedom robot posture adjustment terminal is connected to the board through a universal ball hinge to grasp and support the prefabricated board, and the bottom is rigidly connected to the platform of the automatic guided transport module. The six-DOF robot posture adjustment terminal drive system consists of six independent servo motors and reducers, each driving a branch chain. Through the coordinated movement of the six motors, the top platform can be precisely controlled to move in three-dimensional space with three translational degrees of freedom (X, Y, Z) and three rotational degrees of freedom (Rx, Ry, Rz). Its workflow is as follows: after receiving the target posture command from the central collaborative control center, it calculates the target stroke of each servo motor through the built-in inverse kinematics algorithm, and drives the motor to run in a closed-loop control mode. Finally, the prefabricated plate is adjusted to the target position and posture with sub-millimeter and second-level accuracy, completely replacing the traditional manual adjustment method.

[0028] The automated guided transport and docking module is a heavy-duty Mecanum wheel omnidirectional automated guided vehicle (AGV). Based on the Mecanum wheel principle, this AGV has omnidirectional movement capabilities in the plane, including forward and backward, left and right, diagonal, and rotation in place. This gives it extremely high mobility and flexibility in the narrow space of the platform, enabling it to move laterally directly without turning to accurately align with the installation position. The navigation of the automated guided transport and docking module adopts a fusion navigation technology of UWB absolute positioning and laser SLAM. The UWB system provides global centimeter-level positioning, while the laser SLAM system is used for real-time obstacle avoidance and local path optimization, ensuring that the AGV can travel safely and smoothly along the optimal path planned by the central collaborative control center. The AGV is equipped with a hydraulic or mechanical automatic locking mechanism to fix the precast panels during transportation and release them according to instructions after arriving at the predetermined work station.

[0029] The human-machine collaboration and digital twin monitoring module includes a monitoring terminal, a digital twin engine, and a data management unit; The monitoring terminal consists of a large-screen display device set up in the on-site command center and a mobile terminal used by the operator. It displays a dynamic model of the entire construction site rendered by a digital twin engine in real time in a three-dimensional visualization manner. The display content includes the real-time position of the AGV, the real-time posture of the precast slab, the equipment status and progress information. The digital twin engine is developed based on a game engine and can render the digital twin model in the central collaborative control center in high fidelity and real time. Operators can observe the installation process from any angle in the virtual environment and perform pre-rehearsals such as collision detection. The data management unit automatically records the unique number, final installation coordinates, attitude, installation timestamp, and sensor data during the installation process for each board, forming a traceable electronic installation log and supporting the generation of quality reports and progress analysis charts.

[0030] The integrated power and safety module includes a power unit and a safety unit; The power unit uses a large-capacity, modular lithium-ion battery pack as its energy source to provide drive power for the AGV and the six-degree-of-freedom robot, and supports online quick replacement or automatic charging functions to ensure that the system can meet the energy consumption requirements of continuous operation. The safety device has a built-in multi-level protection system, including: Active safety protection based on LiDAR can set virtual safety zones on the movement paths of AGVs and robots, automatically slowing down or stopping when encountering obstacles; physical anti-collision strips trigger emergency stops when contact occurs; A distributed network of emergency stop buttons allows personnel to manually trigger them in emergencies; a system status self-monitoring system diagnoses equipment health status in real time and warns of potential faults; this module ensures the absolute reliability of the system when working collaboratively with personnel in complex construction environments.

[0031] Example 2: A high-efficiency installation system for prefabricated platform slabs based on intelligent robots, the operation logic of which includes the following steps: S1: Scan the environment using the measurement module to build a digital twin base model of the site; S2: Import the BIM design model through the monitoring module, and the central hub performs model matching and task planning; S3: The AGV automatically travels to the yard and carries the target precast slab; S4: The AGV autonomously navigates along the planned path to the vicinity of the installation station and completes coarse positioning; S5: The terminal precision measurement unit starts, scans adjacent boards, and measures the current deviation; S6: The central control calculates the attitude adjustment parameters and instructs the six-degree-of-freedom robot to perform fine-tuning; S7: After fine-tuning, the AGV and the robot work together to release and install the panels; S8: The data management unit records the installation results, and the AGV returns to execute the next task, repeating the cycle until all panels are installed.

[0032] 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 high-efficiency installation system for prefabricated platform slabs based on intelligent robots, characterized in that, include: The multimodal high-precision measurement and positioning module is used to perform real-time measurement and positioning of the installation environment, transport vehicle and prefabricated slab, and its output end is communicatively connected to the input end of the central collaborative control hub. The central collaborative control center is used to process sensing data, construct digital twin models, perform task planning and motion coordination, and its output end is connected to the input end of the six-degree-of-freedom robot posture adjustment terminal and the automatic guidance transportation and docking module, respectively. A six-degree-of-freedom robot posture adjustment terminal is used to perform high-precision six-dimensional posture adjustment to achieve the alignment and leveling of the prefabricated plate. An automatic guided transport and docking module is used to realize the transport and coarse positioning of precast slabs from the stockyard to the installation station; The human-machine collaboration and digital twin monitoring module is used to provide visual monitoring, manual intervention interface and installation data management, and it has a bidirectional communication connection with the central collaborative control center. An integrated power and safety module is provided to provide continuous power to the system and ensure the safety of human-machine collaborative operation.

2. The high-efficiency installation system for prefabricated platform slabs based on intelligent robots according to claim 1, characterized in that, The multimodal high-precision measurement and positioning module specifically includes an environmental scanning unit, a transportation positioning unit, a terminal precision measurement unit, and an attitude monitoring unit.

3. The high-efficiency installation system for prefabricated platform slabs based on intelligent robots according to claim 2, characterized in that, The environmental scanning unit is a three-dimensional laser scanner, used to acquire the overall point cloud model and reference information of the platform foundation pit; The transportation positioning unit includes a UWB tag and a QR code recognition camera, which are integrated into the automated guided vehicle. The terminal precision measurement unit includes a binocular vision camera and a laser tracker, which are integrated into a six-degree-of-freedom robot posture adjustment terminal. The attitude monitoring unit is a tilt sensor embedded in the prefabricated slab.

4. The efficient installation system for prefabricated platform slabs based on intelligent robots according to claim 1, characterized in that, The central collaborative control hub includes a data fusion and modeling unit, a task planning and decision-making unit, and a motion control and coordination unit. The data fusion and modeling unit receives all sensor data and generates a digital twin model that is synchronized with the physical environment in real time through algorithm fusion. The model includes the three-dimensional state of the installed components, the components to be installed, the AGV, and the robot. The task planning and decision-making unit calculates the optimal installation sequence of each prefabricated slab, the optimal path of the AGV, and the target posture parameters of the robot based on the digital twin model and the preset BIM design model, and replans in real time when encountering actual deviations. The motion control and coordination unit is responsible for decomposing the planning scheme into specific collaborative motion instructions and sending them to the AGV and the six-degree-of-freedom robot in time synchronization.

5. The high-efficiency installation system for prefabricated platform slabs based on intelligent robots according to claim 1, characterized in that, The task planning and decision-making unit adopts an artificial intelligence-based optimization algorithm, which uses the current installation progress, AGV battery power, panel stacking position, and installation station priority as constraints, and takes the highest overall installation efficiency as the objective function to dynamically and in real time assign transportation tasks and plan routes for the AGV group. The six-degree-of-freedom robot posture adjustment terminal is a six-degree-of-freedom parallel mechanism or a high-precision servo electric cylinder array; the top of the six-degree-of-freedom robot posture adjustment terminal is connected to the board through a universal ball hinge to grasp and support the prefabricated board, and the bottom is rigidly connected to the platform of the automatic guidance and transportation module. The six-degree-of-freedom robot posture adjustment terminal drive system consists of six independent servo motors and reducers, each driving one branch chain.

6. The efficient installation system for prefabricated platform slabs based on intelligent robots according to claim 1, characterized in that, The automated guided transport and docking module is a heavy-duty Mecanum wheel omnidirectional automated guided vehicle (AGV). The navigation of the automated guided transport and docking module adopts a fusion navigation technology of UWB absolute positioning and laser SLAM; The AGV is equipped with a hydraulic or mechanical automatic locking mechanism.

7. The high-efficiency installation system for prefabricated platform slabs based on intelligent robots according to claim 1, characterized in that, The human-machine collaboration and digital twin monitoring module includes a monitoring terminal, a digital twin engine, and a data management unit; The monitoring terminal is a large-screen display device set in the on-site command center and a mobile terminal used by the operator. Its display content includes the real-time position of the AGV, the real-time attitude of the precast slab, the equipment status and progress information. The data management unit automatically records the unique number, final installation coordinates, attitude, installation timestamp, and sensor data during the installation process for each board, and supports the generation of quality reports and progress analysis charts.

8. The high-efficiency installation system for prefabricated platform slabs based on intelligent robots according to claim 1, characterized in that, The integrated power and safety module includes a power unit and a safety unit.

9. The high-efficiency installation system for prefabricated platform slabs based on intelligent robots according to claim 8, characterized in that, The power unit uses a lithium-ion battery pack as its energy source to provide driving power for the AGV and the six-degree-of-freedom robot. The safety device has a built-in multi-level protection system, including: Active safety protection based on lidar; Distributed emergency stop button network.

10. The high-efficiency installation system for prefabricated platform slabs based on intelligent robots according to claim 1, characterized in that, Its operating logic includes the following steps: S1: Scan the environment using the measurement module to build a digital twin base model of the site; S2: Import the BIM design model through the monitoring module, and the central hub performs model matching and task planning; S3: The AGV automatically travels to the yard and carries the target precast slab; S4: The AGV autonomously navigates along the planned path to the vicinity of the installation station and completes coarse positioning; S5: The terminal precision measurement unit starts, scans adjacent boards, and measures the current deviation; S6: The central control calculates the attitude adjustment parameters and instructs the six-degree-of-freedom robot to perform fine-tuning; S7: After fine-tuning, the AGV and the robot work together to release and install the panels; S8: The data management unit records the installation results, and the AGV returns to execute the next task, repeating the cycle until all panels are installed.

Images