Indoor placement type three-way adjusting external wall panel mounting device and mounting method

Abstract

The invention provides an indoor placement type three-way adjusting external wall panel mounting device and method. The device comprises a movable chassis, a UWB positioning module, a three-way adjusting mechanical arm assembly, a laser ranging module, a steel keel clamping mechanism and a controller. The method comprises the following steps: resolving the position of the device in real time through UWB positioning and automatically navigating to a target station; the actual position of the wallboard steel keel is scanned and recognized through the laser ranging module, and the posture of the mechanical arm is adjusted to enable the clamping mechanism to move to the position over the steel keel and automatically clamp the steel keel; carrying out three-direction precise adjustment on the wallboard according to the preset mounting position; after the wallboard is fixed, a laser ranging module is matched with the movement of a mechanical arm to carry out multi-point scanning measurement on characteristic parts of the wallboard, actual installation position data are obtained, and installation deviation is calculated; the whole-process indoor automatic installation of the external wall panel is realized, the potential safety hazard of high-altitude operation is eliminated, the installation precision and the construction efficiency are improved, and the digital traceability of the installation quality is realized.

Description

Technical Field

[0001] This invention belongs to the field of prefabricated building technology, specifically relating to an indoor placement three-way adjustable exterior wall panel installation device and installation method. Background Technology

[0002] Under the general trend of industrialized development of prefabricated buildings, prefabricated exterior wall panels are widely used in various construction projects such as residential, commercial, and industrial plants due to their advantages such as high construction efficiency and strong quality control. Among them, composite exterior wall panels with steel keel as the load-bearing frame and calcium silicate board as the interior decorative panel have become the mainstream choice due to their high structural strength and good decorative effect. When installing this type of exterior wall panel, the prefabricated wall panel must be accurately fixed to the main structure of the building, and the alignment of the panel joints and the accuracy of the elevation must be ensured, while avoiding damage to the calcium silicate decorative panel. This places high demands on the installation equipment and construction process.

[0003] Currently, outdoor high-altitude work is the industry's traditional mainstream approach. This method involves using a tower crane to hoist the exterior wall panels to their corresponding installation positions on the building's exterior. Construction workers stand on outdoor suspended platforms or scaffolding and manually adjust the panel positions using simple tools such as chain hoists and ropes. After the wall panels are bolted to the building's main structure, the hoisting equipment and auxiliary tools are removed. The entire process relies on tower crane hoisting and positioning, as well as manual on-site adjustments. Its core supporting equipment consists only of conventional tower cranes and chain hoists; there are no dedicated wall panel positioning and adjustment devices. Adjustments to the front-back, left-right, and up-down positions of the wall panels are all achieved through manual pulling and prying.

[0004] Outdoor high-altitude operation schemes pose significant safety hazards. Construction workers operating on outdoor suspended platforms and scaffolding are prone to accidents such as falls from heights and being struck by falling objects. Furthermore, they are greatly affected by environmental factors such as weather and wind, resulting in extremely low construction efficiency. At the same time, tower cranes can only achieve approximate hoisting and positioning of wall panels, and manual adjustments using simple tools have poor precision. Alignment of panel seams and elevation control are difficult to meet the high-precision acceptance requirements of prefabricated buildings, leading to a high rework rate and easy damage to the decorative surfaces.

[0005] Therefore, there is an urgent need to design an indoor-mounted three-way adjustable exterior wall panel installation device and method that can replace manual installation, improve installation efficiency and accuracy, and avoid damage to the exterior wall panels to solve the current technical problems. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an indoor-mounted three-way adjustable exterior wall panel installation device and method that can replace manual installation, improve installation efficiency and accuracy, and avoid damage to the exterior wall panel.

[0007] The technical solution of this invention is: an indoor-placed three-way adjustable exterior wall panel installation device, comprising: The mobile chassis is equipped with movable and lockable wheels at the bottom; The UWB positioning module is located on the top of the mobile chassis and is used to communicate with multiple UWB base stations pre-deployed inside the building to obtain the position information of the installation device in the building coordinate system in real time. The three-way adjustable robotic arm assembly is mounted on the mobile chassis and includes a left-right lateral sliding slide, a right-up lifting slide, and a front-back telescopic arm that are perpendicular to each other and driven independently. A laser ranging module is installed at the movable end of the forward and backward telescopic arm and is used to perform multi-point scanning measurement on the installed wall panel. A steel keel clamping mechanism is installed at the movable end of the front and rear telescopic arm and is used to clamp the load-bearing steel keel inside the wall panel from above. The controller is electrically connected to the UWB positioning module, the mobile chassis, the three-way adjustable robotic arm assembly, and the laser ranging module. It is used to control the mobile chassis to navigate automatically based on the UWB positioning information, to automatically control the three-way adjustable robotic arm assembly to clamp and adjust the wall panel according to the preset installation position, and to automatically control the laser ranging module to perform multi-point scanning measurement after the wall panel is fixed to evaluate the installation deviation.

[0008] An indoor-mounted three-way adjustable exterior wall panel installation method, using the installation device described above, is characterized by comprising the following steps: By communicating with multiple UWB base stations pre-deployed indoors of the building via UWB tags set on the installation device, the current position of the installation device in the building coordinate system can be calculated in real time. Obtain the preset installation position information of the wall panel to be installed, and automatically control the moving chassis of the installation device to move to the target work position based on the current position and the preset installation position; After being moved into place, the relative positional relationship between the installation device and the main building is determined by UWB positioning. The laser ranging module scans the wall panel area to identify the actual position of the steel keel of the wall panel, and adjusts the posture of the three-way adjusting robotic arm assembly according to the identification results, so that the steel keel clamping mechanism moves to directly above the steel keel. Based on the relative positional relationship and the preset installation position, the three-way adjustable robotic arm assembly is automatically controlled to clamp the load-bearing steel keel of the wall panel; Based on the preset installation position, the three-way adjustable robotic arm assembly is automatically controlled to adjust the wall panel in the front-back, left-right, and up-down directions so that the wall panel reaches the preset installation position. After the wall panel is fixed, the automatic control laser ranging module works in conjunction with the movement of the three-way adjustable robotic arm assembly to perform multi-point scanning and measurement of the feature parts of the installed wall panel to obtain the actual installation position data of the wall panel; The actual installation location data is compared with the preset installation location information to calculate the installation deviation value, and it is determined whether the deviation value is within the preset allowable range. If the deviation is within the allowable range, the qualified information is recorded and an acceptance report is generated, completing the installation and acceptance of the current wall panel; if the deviation exceeds the allowable range, an alarm signal is issued.

[0009] Furthermore, the real-time calculation of the current position of the installation device in the building coordinate system includes the following steps: Collect raw ranging data between UWB base stations and UWB tags, and simultaneously acquire motion status data of the installation device; Based on the distribution of the steel structure already installed inside the building, the original ranging data is used to identify and correct signal obstruction and multipath interference. By fusing the corrected ranging data with the motion state data, the continuous position of the installation device under the condition of brief signal blockage is calculated. When the installation device moves to a predetermined distance from the installed wall panel, the calculated current position is calibrated using the known coordinates of the wall panel in the building coordinate system as a constraint. The calibrated current position is matched with the preset coordinates of each workstation in the building information model to generate the next target navigation point for the mobile chassis.

[0010] Furthermore, the preset installation position information is derived from the building information model, and the preset installation position information includes the target three-dimensional coordinates and attitude angle of the wall panel in the building coordinate system.

[0011] Furthermore, the step of determining the relative positional relationship between the installation device and the main building through UWB positioning includes: After the mobile chassis stops, UWB high-precision positioning technology is used to obtain the precise distance and angle between the installation device and the preset reference point on the building body, calculate the actual pose of the device, and generate deviation compensation values ​​for correcting the adjustment amount.

[0012] Furthermore, the step of performing multi-point scanning measurement on the characteristic parts of the installed wall panel includes the following steps: Based on the geometric dimensions of the wall panel in the building information model and the preset installation position, the initial scanning path of the cover panel seam, edge and surface is automatically generated; The control three-way adjustable robotic arm assembly drives the laser ranging module to move along the initial scanning path, collects ranging data in real time, and dynamically identifies the actual edge position of the wall panel and the center line of the panel seam by analyzing the abrupt change characteristics of the ranging data sequence. The actual edge position is identified and compared with the theoretical edge in the preset installation position to calculate the overall positional deviation of the wall panel. Based on the overall positional deviation, an encrypted scanning path is automatically generated, and local retesting is performed on areas with large deviations to obtain higher density feature point data. The feature point data obtained from the initial scan and the encrypted scan are fused to generate a point cloud model of the actual installation location of the wall panel, which is used for installation deviation calculation.

[0013] Furthermore, the step of calculating the installation deviation value includes: The measured coordinates of the feature parts are compared with the theoretical coordinates of the corresponding feature points in the preset installation position to calculate the linear deviation of the wall panel in the front-back, left-right, and up-down directions, as well as the angular deviation around each coordinate axis.

[0014] Furthermore, the step of generating the acceptance report further includes: The installation deviation data, point cloud model, and acceptance conclusions of each wall panel are associated with the wall panel number to generate a digital installation quality file. The digital installation quality file is uploaded to the building information model or cloud server, and the actual installation position of the wall panel is updated in the building information model to form a two-way mapping between the design model and the as-built model. When subsequent wall panels are installed, the actual position data of adjacent installed wall panels can be obtained by accessing the building information model or cloud server, which is used for adaptive adjustment of the current wall panel's preset installation position.

[0015] Furthermore, after completing the installation and acceptance steps of the current wall panel, the process also includes: The current installation deviation value of the wall panel is stored in the controller, and the preset installation position is adaptively adjusted according to the deviation value during subsequent wall panel installation to compensate for the accumulated error.

[0016] Furthermore, the installation method for indoor-mounted three-way adjustable exterior wall panels also includes automatic handling procedures for abnormal situations: During the clamping, adjustment, or scanning measurement of the wall panel, the driving torque of each axis of the three-way adjustable robotic arm assembly and the return value of the laser ranging module are monitored in real time. When the driving torque of any axis exceeds the preset threshold, it is determined that there is a clamping abnormality or movement obstruction. The axis movement is immediately stopped and it is reversed to a preset safe distance. At the same time, a clamping abnormality alarm is issued. When the return value of the laser ranging module is detected to contain consecutive invalid data or exceed the limit on the preset scanning path, it is determined to be a scanning abnormality, and the scanning speed is automatically adjusted or the current scanning path is re-executed. When the installation deviation exceeds the preset allowable range and the deviation exceeds the emergency threshold, it is determined that the installation is unqualified. The wall panel is automatically marked in the wall panel and building information model, and rework guidance information is generated.

[0017] The beneficial effects of this invention are: (1) The present invention transfers the positioning and installation of the exterior wall panel to the interior, so that construction workers do not need to work on the outdoor suspended basket or scaffolding, which fundamentally avoids safety accidents such as falling from heights and being struck by objects; (2) Through UWB high-precision positioning and three-way robotic arm closed-loop control, the wall panel can be independently and accurately adjusted in the left, right, up, down and front and back directions. Key indicators such as panel seam alignment and elevation control meet the high-precision acceptance requirements of prefabricated buildings, and the rework rate is significantly reduced. (3) The laser performs multi-point scanning measurement on the installed wall panels to further ensure that the installation quality of each wall panel is quantifiable and traceable; (4) The fully automated operation replaces the traditional manual pulling, prying, adjustment and visual observation, greatly shortening the installation time of a single wall panel. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the indoor-placed three-way adjustable exterior wall panel installation device of the present invention.

[0019] Figure 2 This is a flowchart of the indoor placement three-way adjustable exterior wall panel installation method in this invention. Detailed Implementation

[0020] Various exemplary embodiments of the invention will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the invention or its application or use. The invention can be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the invention thorough and complete, and to fully express the scope of the invention to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as merely exemplary and not as limiting.

[0021] The terms "first," "second," and similar words used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as "including" or "comprising" mean that the element preceding the word encompasses the element listed after it, without excluding the possibility of encompassing other elements. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] like Figure 1 As shown, an indoor-mounted three-way adjustable exterior wall panel installation device is disclosed, comprising: The mobile chassis 1 has movable and lockable wheels at its bottom; UWB positioning module 2, located on the top of mobile chassis 1, is used to communicate with multiple UWB base stations pre-deployed inside the building to obtain the location information of the installation device in the building coordinate system in real time. The three-way adjustable robotic arm assembly 3 is mounted on the mobile chassis 1 and includes a left-right lateral sliding slide 31, a up-down lifting slide 32, and a front-back telescopic arm 33 that are perpendicular to each other and driven independently. The laser ranging module 4 is installed at the movable end of the forward and backward telescopic arm 33 and is used to perform multi-point scanning measurement on the installed wall panel. The steel keel clamping mechanism 5 is installed at the movable end of the front and rear telescopic arm 33 and is used to clamp the load-bearing steel keel inside the wall panel from above. The controller 6 is electrically connected to the UWB positioning module 2, the mobile chassis 1, the three-way adjustable robotic arm assembly 3, and the laser ranging module 4. It is used to control the mobile chassis 1 to navigate automatically according to the UWB positioning information, to automatically control the three-way adjustable robotic arm assembly 3 to clamp and adjust the wall panel according to the preset installation position, and to automatically control the laser ranging module 4 to perform multi-point scanning measurement after the wall panel is fixed to evaluate the installation deviation.

[0023] In this embodiment, no fewer than four non-coplanar UWB base stations are pre-deployed inside the building. The UWB positioning module 2 on the top of the installation device receives base station signals in real time and calculates its precise position in the building coordinate system. The controller 6 automatically plans the movement path according to the preset installation position and controls the walking wheel set 11 of the mobile chassis 1 to travel along the path to the target work position. During the movement, UWB positioning and motion status data are combined to ensure continuous and stable positioning even in complex environments such as steel structure obstruction. After reaching the work position, the precise distance and angle between the installation device and the preset reference point on the main building are obtained through high-precision UWB ranging, and a deviation compensation value is generated to provide a reference for subsequent robotic arm adjustment.

[0024] After the wall is moved into place, the controller 6 drives the three-way adjustable robotic arm assembly 3 to move according to the preset installation position and deviation compensation value. The forward and backward telescopic arm 33 extends to the outside, moving the steel keel clamping mechanism to directly above the wall panel steel keel; the up and down lifting slide 32 descends, allowing the steel keel clamping mechanism 5 to extend into the narrow installation gap between the outer wall panel and the building structure; the steel keel clamping mechanism 5 clamps the load-bearing steel keel inside the wall panel from top to bottom, completing the transfer of the wall panel's weight from the tower crane to the device; subsequently, based on the target coordinates in the BIM model, the controller sequentially controls the left and right lateral sliding slide 31, the up and down lifting slide 32, and the forward and backward telescopic arm 33 to independently and precisely adjust the wall panel in the left, right, up and down, and forward and backward directions, so that the wall panel reaches the preset installation position; after the wall panel is fixed, the controller 6 starts the acceptance mode, and the laser ranging module 4, in conjunction with the movement of the three-way adjustable robotic arm assembly 3, performs multi-point scanning measurements on the feature parts such as the panel seams and edges of the installed wall panel.

[0025] In some embodiments, an indoor-placed three-way adjustable exterior wall panel installation method is disclosed, employing the installation device described in the above embodiments, and including the following steps: S1 communicates with multiple UWB base stations pre-deployed in the building interior via UWB tags set on the installation device to calculate the current position of the installation device in the building coordinate system in real time. S2, obtain the preset installation position information of the wall panel to be installed, and automatically control the moving chassis of the installation device to move to the target work position according to the current position and the preset installation position; S3, After moving into place, the relative positional relationship between the installation device and the main building is determined by UWB positioning; S4, by scanning the wall panel area through the laser ranging module, the actual position of the wall panel steel keel is identified, and the posture of the three-way adjusting robotic arm assembly is adjusted according to the identification result, so that the steel keel clamping mechanism moves to directly above the steel keel; S5, based on the relative position relationship and preset installation position, automatically controls the three-way adjustable robotic arm assembly to clamp the load-bearing steel keel of the wall panel; S6, based on the preset installation position, automatically controls the three-way adjusting robotic arm assembly to adjust the wall panel in the front-back, left-right, and up-down directions so that the wall panel reaches the preset installation position; S7. After the wall panel is fixed, the automatic control laser ranging module works in conjunction with the movement of the three-way adjustable robotic arm assembly to perform multi-point scanning and measurement of the feature parts of the installed wall panel to obtain the actual installation position data of the wall panel. S8. Compare the actual installation location data with the preset installation location information, calculate the installation deviation value, and determine whether the deviation value is within the preset allowable range. S9. If the deviation value is within the allowable range, record the qualified information and generate an acceptance report to complete the installation and acceptance of the current wall panel; if the deviation value exceeds the allowable range, issue an alarm signal.

[0026] As an example of an indoor UWB base station communication layout in a building, at least four UWB positioning base stations are installed indoors. These four base stations are not coplanarly distributed and are installed at different heights and locations within the building. More specifically, two base stations are installed at beam-column joints near the ceiling, and the other two base stations are installed on the side walls of walls and columns at a height of 2.5 to 3 meters above the ground, thus forming a three-dimensional positioning network covering the indoor space. To ensure positioning accuracy, the spacing between the base stations should be 10 to 30 meters, and the base station locations should be as dispersed as possible to avoid collinear or closely spaced arrangements. Real-time calculation of the current position of the installation device in the building coordinate system includes the following steps: Collect raw ranging data between UWB base stations and UWB tags, and simultaneously acquire motion status data of the installation device; Based on the distribution of the steel structure already installed inside the building, the original ranging data is used to identify and correct signal obstruction and multipath interference. By fusing the corrected ranging data with the motion state data, the continuous position of the installation device under the condition of brief signal blockage is calculated. When the installation device moves to a predetermined distance from the installed wall panel, the calculated current position is calibrated using the known coordinates of the wall panel in the building coordinate system as a constraint. The calibrated current position is matched with the preset coordinates of each workstation in the building information model to generate the next target navigation point for the mobile chassis.

[0027] This step enables high-precision, continuous, and stable positioning of the installation device in complex indoor environments, providing a reliable positional reference for subsequent automatic clamping and adjustment of the wall panels.

[0028] Specifically, during the indoor movement of the installation device, the UWB positioning module on top of the device continuously communicates with four or more pre-deployed UWB base stations, acquiring raw ranging data between each base station and the UWB tag using time difference of arrival (TDOA) or phase difference of arrival (PDA) technology. Simultaneously, the controller collects motion status data of the installation device at a preset frequency, including encoder readings from the mobile chassis's wheel assembly, steering angle sensor data, and acceleration and angular velocity information output by the inertial measurement unit. This motion status data provides a continuous foundation for motion prediction during subsequent data fusion.

[0029] Building interiors typically contain extensive steel structures and reinforced concrete walls, which can obstruct and reflect UWB signals, leading to abnormal deviations in ranging data. To address this, the controller pre-stores steel structure distribution data from the Building Information Model (BIM). During positioning, the controller compares the real-time collected ranging data with the theoretical signal propagation path predicted based on the steel structure distribution. When a jump or continuous deviation from the predicted value is detected in the ranging data from a base station, the controller, considering the device's current trajectory and the steel structure distribution along the line connecting the base station and the device, determines whether the ranging data is affected by obstruction or multipath interference. For identified abnormal data, the controller uses weighted filtering or robust estimation algorithms to reduce its weight, or directly removes it and uses observations from other normal base stations for calculation, thereby eliminating the impact of interference on positioning accuracy.

[0030] The corrected UWB ranging data and motion state data are input into an extended Kalman filter. In the prediction phase, the filter calculates the predicted position of the device at the next moment based on the motion state data; in the update phase, it corrects the predicted position using UWB ranging observations. Through this fusion strategy, even when some UWB signals are briefly blocked, the filter can still maintain continuous position output based on the motion state data, avoiding positioning interruptions or jumps. The output of the fused solution is the device's real-time position coordinates (X, Y, Z) and attitude angle in the building coordinate system.

[0031] As installation progresses, the number of exterior wall panels installed inside the building gradually increases. After installation, the precise location of each panel is scanned and recorded in the controller by a laser ranging module. When the installation device moves to a predetermined distance from an installed wall panel, the controller automatically triggers a calibration procedure: by measuring the precise distance and angle between the device and the wall panel using the laser ranging module or visual recognition module, and combining this with the known coordinates of the wall panel in the building coordinate system, the current position of the device is calculated. This calibrated position is compared with the currently fused and calculated position. If the deviation exceeds a preset threshold, the fused and calculated result is corrected to eliminate drift errors accumulated over long-term movement.

[0032] The calibrated current position is matched with the pre-stored coordinates of each installation station in the Building Information Model (BIM). Based on the sequence number of the wall panel to be installed, the controller retrieves the coordinates of the target station corresponding to that wall panel from the BIM model. Based on the coordinate difference between the current position and the target station, and combined with the obstacle distribution in the indoor environment map, a path search algorithm generates a collision-free optimal movement path. This path is discretized into a series of continuous target navigation points. The controller sequentially sends the coordinates of each navigation point to the drive system of the mobile chassis, enabling the device to automatically travel along the planned path to the target station.

[0033] In some embodiments, the preset installation location information is derived from the building information model, and the preset installation location information includes the target three-dimensional coordinates and attitude angle of the wall panel in the building coordinate system.

[0034] The steps for determining the relative position of the installation device to the main building using UWB positioning include: After the mobile chassis stops, UWB high-precision positioning technology is used to obtain the precise distance and angle between the installation device and the preset reference point on the building body, calculate the actual pose of the device, and generate deviation compensation values ​​for correcting the adjustment amount.

[0035] The reference points are preferably set on the load-bearing columns, shear walls, or beams of the building structure. Specific locations include the center point of the column base, pre-marked points on the column side, or floor elevation control points. The precise three-dimensional coordinates of each reference point in the building coordinate system are measured and calibrated using a high-precision total station and stored in the controller of the installation device. When the installation device moves to the target position via autonomous navigation and stops, the controller automatically initiates a high-precision positioning program. At this time, the UWB positioning module on the device switches to carrier phase differential mode, communicates with pre-deployed UWB base stations, and obtains the precise spatial distance between the device and each reference point. Simultaneously, by adjusting the encoder readings of each axis of the three-way adjustable robotic arm assembly and combining them with the geometric parameters of the robotic arm, the directional angles of each reference point relative to the device coordinate system, including horizontal and pitch angles, are calculated. Based on the obtained distance and angle observations of multiple reference points, combined with the known coordinates of these reference points in the building coordinate system, the controller uses a spatial resection algorithm to calculate the current actual pose of the installation device. The calculation results include the precise position coordinates of the device in the building coordinate system and the device's attitude angles. Subsequently, the controller compares the calculated actual pose of the device with the theoretically preset pose. The theoretically preset pose represents the target position and attitude at which the device should stop, and is pre-stored in the controller. Through comparison, deviation compensation values ​​for six degrees of freedom are generated, including linear deviations in the forward / backward, left / right, and up / down directions, as well as angular deviations around each coordinate axis. Finally, the controller stores these deviation compensation values ​​and applies them to subsequent wall panel clamping and adjustment steps. During subsequent adjustment, the controller superimposes the preset installation position with the deviation compensation values ​​to generate a corrected target position command, thus eliminating the influence of the device's own positioning deviation on the wall panel installation accuracy.

[0036] As a specific implementation of S4, the controller sets the scanning area of ​​the laser ranging module based on the current preset installation position of the wall panel and the approximate range of the wall panel suspended by the tower crane. This area covers the planar range where the steel keel may appear. The controller controls the three-way adjustable robotic arm assembly to move the laser ranging module along a preset path within the scanning area, collecting ranging data in real time. When the laser beam scans through the edge of the steel keel, the ranging value changes significantly. The controller identifies the two parallel edge lines of the steel keel by detecting the abrupt change points in the ranging data sequence, and then calculates the centerline position of the steel keel. Based on the identified real-time position of the steel keel, the controller dynamically controls the left-right lateral sliding table and the front-back telescopic arm to adjust, so that the steel keel clamping mechanism moves to directly above the steel keel in the horizontal plane. If the wall panel sways due to wind, the laser ranging module continues to scan and update the position of the steel keel, and the controller adjusts accordingly in real time to ensure that the clamping mechanism is always aligned with the steel keel. When the clamping mechanism moves directly above the steel keel and the position deviation is less than the preset threshold, the controller stops the horizontal adjustment and sends a descent command to the lifting slide, causing the clamping mechanism to descend vertically and extend into the installation gap to perform subsequent clamping actions.

[0037] As a specific implementation of S5, the controller acquires the deviation compensation value generated by S3 and the precise position of the steel keel identified by S4. The deviation compensation value reflects the deviation between the actual posture of the installation device and the theoretical preset posture, and the position of the steel keel is the three-dimensional coordinate of the clamping target point in the robotic arm coordinate system. The controller corrects the preset installation position according to the deviation compensation value and generates a target position command for the clamping mechanism. This command includes the extension amount of the forward and backward telescopic arm, the lateral displacement amount of the left and right transverse slide, and the descent height of the up and down lifting slide. The controller drives the forward and backward telescopic arm to extend outdoors, moving the steel keel clamping mechanism to the area directly above the steel keel. Subsequently, it drives the left and right transverse slide for fine-tuning, so that the clamping mechanism is precisely aligned with the steel keel in the horizontal plane. The controller drives the up and down lifting slide to descend at a preset speed, so that the clamping mechanism extends into the installation gap between the exterior wall panel and the building structure. During the descent, the proximity switch on the clamping mechanism detects the distance to the steel keel in real time, and stops the descent when the gripper reaches the preset clamping height. The controller activates the clamping drive mechanism, causing the upper and lower clamping jaws to close and clamp the steel keel from above and below. During the clamping process, the controller monitors the clamping force in real time, and stops clamping when the preset clamping force threshold is reached, thus completing the reliable clamping of the wall panel steel keel.

[0038] As a specific implementation of S6, the controller acquires the preset installation position information of the wall panel, which includes the target three-dimensional coordinates and attitude angle of the wall panel in the building coordinate system. Simultaneously, the controller reads the deviation compensation value generated in S3, which reflects the deviation between the actual pose of the installation device and the theoretical preset pose. The controller superimposes the preset installation position and the deviation compensation value to generate a corrected target position command. This command includes the target displacement of the wall panel in the front-back, left-right, and up-down directions, as well as the target attitude angle. The controller adjusts according to the corrected target position command. Specifically, this includes controlling the front-back telescopic arm to extend and retract, adjusting the front-back distance between the wall panel and the exterior facade of the main building structure, so that the wall panel reaches the preset front-back position; controlling the left-right lateral sliding table to move laterally, adjusting the left and right panel joint positions, so that the wall panel reaches the preset left-right positions; and controlling the up-down lifting sliding table to lift and lower, adjusting the elevation of the wall panel, so that the wall panel reaches the preset up-down positions. After the position adjustment in the three directions is completed, the controller reads the feedback values ​​of the displacement sensors of each axis again to confirm that the deviation between the actual position of the wall panel and the preset installation position is within the allowable range. If the deviation exceeds the limit, repeat the above adjustment steps for fine-tuning; if the deviation is within acceptable limits, the adjustment process is complete, and proceed to the subsequent wall panel fixing steps.

[0039] The multi-point scanning measurement process for characteristic areas of installed wall panels includes the following steps: Based on the geometric dimensions of the wall panel in the building information model and the preset installation position, the initial scanning path of the cover panel seam, edge and surface is automatically generated; The control three-way adjustable robotic arm assembly drives the laser ranging module to move along the initial scanning path, collects ranging data in real time, and dynamically identifies the actual edge position of the wall panel and the center line of the panel seam by analyzing the abrupt change characteristics of the ranging data sequence. The actual edge position is identified and compared with the theoretical edge in the preset installation position to calculate the overall positional deviation of the wall panel. Based on the overall positional deviation, an encrypted scanning path is automatically generated, and local retesting is performed on areas with large deviations to obtain higher density feature point data. The feature point data obtained from the initial scan and the encrypted scan are fused to generate a point cloud model of the actual installation location of the wall panel, which is used for installation deviation calculation.

[0040] Specifically, the controller automatically plans an initial scanning path that covers the board joints, the edges and surfaces of the wall panels according to the geometric dimensions and preset installation positions of the wall panels in the building information model. This path is laid out in a "bow" shape to ensure comprehensive coverage of key feature parts. The controller controls the three-way adjustable robotic arm assembly to drive the laser ranging module to move along the initial scanning path and collect ranging data in real time. When the laser beam scans across a board joint or the edge of a wall panel, the ranging value changes significantly. The actual edge position of the wall panel and the center line of the board joint are dynamically identified by analyzing the mutation characteristics of the ranging data sequence. The identified actual edge position is compared with the theoretical edge in the preset installation position to calculate the overall position deviation of the wall panel in the horizontal and vertical directions, and the installation deviation of the wall panel is initially judged. According to the above overall position deviation, the controller automatically generates a densified scanning path to locally复测 the area with a较大 deviation and obtain higher-density feature point data. The global data obtained from the initial scanning is fused with the local high-density data obtained from the densified scanning to generate a point cloud model of the actual installation position of the wall panel. This point cloud model fully reflects the actual spatial position and attitude of the wall panel and is used for accurate calculation of the installation deviation in the后续.

[0041] In some embodiments, the step of calculating the installation deviation value includes: Compare the measured coordinates of the feature parts with the theoretical coordinates of the corresponding feature points in the preset installation position, and calculate the linear deviation of the wall panel in the front-back direction, left-right direction, up-down direction, and the angular deviation around each coordinate axis.

[0042] Specifically, first, the controller extracts the measured coordinates of the feature parts of the wall panel from the point cloud model generated in S6. The feature parts include the four corner points of the wall panel, the center line of the board joint, and the surface feature points. At the same time, the theoretical coordinates of the corresponding feature points are read from the building information model. Second, compare the measured corner point coordinates with the theoretical corner point coordinates to calculate the linear deviations ΔX, ΔY, ΔZ of the wall panel in the front-back direction, left-right direction, up-down direction. The linear deviation is the difference between the measured position and the theoretical position in each coordinate axis direction. Third, according to the corresponding relationship between the measured coordinates and the theoretical coordinates of multiple feature points, calculate the angular deviation of the wall panel around each coordinate axis through the spatial coordinate transformation algorithm: the pitch angle deviation ΔRx around the X axis, the roll angle deviation ΔRy around the Y axis, and the heading angle deviation ΔRz around the Z axis. Finally, compare the six calculated deviation values with the preset allowable deviation range. If each deviation is within the allowable range, it is determined that the installation of the wall panel is qualified; if any one deviation exceeds the limit, it is determined that the installation is unqualified and the over-tolerance item is recorded for subsequent processing.

[0043] In some embodiments, after the step of generating the acceptance report, it further includes: Associate the installation deviation data, point cloud model, and acceptance conclusion of each wall panel with the wall panel number to generate a digital installation quality file; The digital installation quality file is uploaded to the building information model or cloud server, and the actual installation position of the wall panel is updated in the building information model, forming a two-way mapping between the design model and the as-built model. When subsequent wall panels are installed, the actual position data of adjacent installed wall panels can be obtained by accessing the building information model or cloud server, which is used for adaptive adjustment of the current wall panel's preset installation position.

[0044] In some embodiments, after completing the installation and acceptance steps of the current wall panel, the method further includes: The current installation deviation value of the wall panel is stored in the controller, and the preset installation position is adaptively adjusted according to the deviation value during subsequent wall panel installation to compensate for the accumulated error.

[0045] Specifically, the controller stores the current wall panel's installation deviation value in its internal memory. This deviation includes linear deviations in the forward / backward direction (ΔX), left / right direction (ΔY), and up / down direction (ΔZ), as well as angular deviations around each coordinate axis (ΔRx, ΔRy, ΔRz). When installing subsequent wall panels, the controller reads the stored deviation data of adjacent or same-row wall panels, analyzing the distribution and trends of these deviations. Based on the analysis, the controller adaptively adjusts the preset installation position of subsequent wall panels: if adjacent wall panels generally show a tendency to shift in a certain direction, the controller compensates for this shift in the preset position of the subsequent wall panel; if the deviation value shows a gradually increasing trend, the adjustment accuracy threshold is appropriately tightened. The adjusted preset installation position is used as the target position for subsequent wall panels to generate control commands for the three-way adjusting robotic arm assembly, thereby achieving dynamic compensation for accumulated errors.

[0046] In some embodiments, the method for installing indoor-placed three-way adjustable exterior wall panels further includes an automatic abnormal situation handling step: During the clamping, adjustment, or scanning measurement of the wall panel, the driving torque of each axis of the three-way adjustable robotic arm assembly and the return value of the laser ranging module are monitored in real time. When the driving torque of any axis exceeds the preset threshold, it is determined that there is a clamping abnormality or movement obstruction. The axis movement is immediately stopped and it is reversed to a preset safe distance. At the same time, a clamping abnormality alarm is issued. When the return value of the laser ranging module is detected to contain consecutive invalid data or exceed the limit on the preset scanning path, it is determined to be a scanning abnormality, and the scanning speed is automatically adjusted or the current scanning path is re-executed. When the installation deviation exceeds the preset allowable range and the deviation exceeds the emergency threshold, it is determined that the installation is unqualified. The wall panel is automatically marked in the wall panel and building information model, and rework guidance information is generated.

[0047] The various embodiments of the present invention have now been described in detail. To avoid obscuring the concept of the invention, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0048] The embodiments described above only illustrate some implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An indoor-place, three-way adjustable exterior wall panel installation device, characterized in that, include: The mobile chassis is equipped with movable and lockable wheels at the bottom; The UWB positioning module is located on the top of the mobile chassis and is used to communicate with multiple UWB base stations pre-deployed inside the building to obtain the position information of the installation device in the building coordinate system in real time. The three-way adjustable robotic arm assembly is mounted on the mobile chassis and includes a left-right lateral sliding slide, a right-up lifting slide, and a front-back telescopic arm that are perpendicular to each other and driven independently. A laser ranging module is installed at the movable end of the forward and backward telescopic arm and is used to perform multi-point scanning measurement on the installed wall panel. A steel keel clamping mechanism is installed at the movable end of the front and rear telescopic arm and is used to clamp the load-bearing steel keel inside the wall panel from above. The controller is electrically connected to the UWB positioning module, the mobile chassis, the three-way adjustable robotic arm assembly, and the laser ranging module. It is used to control the mobile chassis to navigate automatically based on the UWB positioning information, to automatically control the three-way adjustable robotic arm assembly to clamp and adjust the wall panel according to the preset installation position, and to automatically control the laser ranging module to perform multi-point scanning measurement after the wall panel is fixed to evaluate the installation deviation.

2. A method for installing an indoor-placed three-way adjustable exterior wall panel, using the installation device as described in claim 1, characterized in that, Includes the following steps: By communicating with multiple UWB base stations pre-deployed indoors of the building via UWB tags set on the installation device, the current position of the installation device in the building coordinate system can be calculated in real time. Obtain the preset installation position information of the wall panel to be installed, and automatically control the moving chassis of the installation device to move to the target work position based on the current position and the preset installation position; After being moved into place, the relative positional relationship between the installation device and the main building is determined by UWB positioning. The laser ranging module scans the wall panel area to identify the actual position of the steel keel of the wall panel, and adjusts the posture of the three-way adjusting robotic arm assembly according to the identification results, so that the steel keel clamping mechanism moves to directly above the steel keel. Based on the relative positional relationship and the preset installation position, the three-way adjustable robotic arm assembly is automatically controlled to clamp the load-bearing steel keel of the wall panel; Based on the preset installation position, the three-way adjustable robotic arm assembly is automatically controlled to adjust the wall panel in the front-back, left-right, and up-down directions so that the wall panel reaches the preset installation position. After the wall panel is fixed, the automatic control laser ranging module works in conjunction with the movement of the three-way adjustable robotic arm assembly to perform multi-point scanning and measurement of the feature parts of the installed wall panel to obtain the actual installation position data of the wall panel; The actual installation location data is compared with the preset installation location information to calculate the installation deviation value, and it is determined whether the deviation value is within the preset allowable range. If the deviation is within the allowable range, the qualified information is recorded and an acceptance report is generated, completing the installation and acceptance of the current wall panel; if the deviation exceeds the allowable range, an alarm signal is issued.

3. The method for installing an indoor-placed three-way adjustable exterior wall panel according to claim 2, characterized in that, The real-time calculation of the current position of the installation device in the building coordinate system includes the following steps: Collect raw ranging data between UWB base stations and UWB tags, and simultaneously acquire motion status data of the installation device; Based on the distribution of the steel structure already installed inside the building, the original ranging data is used to identify and correct signal obstruction and multipath interference. By fusing the corrected ranging data with the motion state data, the continuous position of the installation device under the condition of brief signal blockage is calculated. When the installation device moves to a predetermined distance from the installed wall panel, the calculated current position is calibrated using the known coordinates of the wall panel in the building coordinate system as a constraint. The calibrated current position is matched with the preset coordinates of each workstation in the building information model to generate the next target navigation point for the mobile chassis.

4. The method for installing an indoor-placed three-way adjustable exterior wall panel according to claim 2, characterized in that: The preset installation location information comes from the building information model, and the preset installation location information includes the target three-dimensional coordinates and attitude angle of the wall panel in the building coordinate system.

5. The method for installing an indoor-placed three-way adjustable exterior wall panel according to claim 2, characterized in that, The step of determining the relative position of the installation device and the building structure using UWB positioning includes: After the mobile chassis stops, UWB high-precision positioning technology is used to obtain the precise distance and angle between the installation device and the preset reference point on the building body, calculate the actual pose of the device, and generate deviation compensation values ​​for correcting the adjustment amount.

6. The method for installing an indoor-placed three-way adjustable exterior wall panel according to claim 2, characterized in that, The step of performing multi-point scanning measurement on the characteristic parts of the installed wall panel includes the following steps: Based on the geometric dimensions of the wall panel in the building information model and the preset installation position, the initial scanning path of the cover panel seam, edge and surface is automatically generated; The control three-way adjustable robotic arm assembly drives the laser ranging module to move along the initial scanning path, collects ranging data in real time, and dynamically identifies the actual edge position of the wall panel and the center line of the panel seam by analyzing the abrupt change characteristics of the ranging data sequence. The actual edge position is identified and compared with the theoretical edge in the preset installation position to calculate the overall positional deviation of the wall panel. Based on the overall positional deviation, an encrypted scanning path is automatically generated, and local retesting is performed on areas with large deviations to obtain higher density feature point data. The feature point data obtained from the initial scan and the encrypted scan are fused to generate a point cloud model of the actual installation location of the wall panel, which is used for installation deviation calculation.

7. The method for installing an indoor-placed three-way adjustable exterior wall panel according to claim 2, characterized in that, The step of calculating the installation deviation value includes: The measured coordinates of the feature parts are compared with the theoretical coordinates of the corresponding feature points in the preset installation position to calculate the linear deviation of the wall panel in the front-back, left-right, and up-down directions, as well as the angular deviation around each coordinate axis.

8. The method for installing an indoor-placed three-way adjustable exterior wall panel according to claim 2, characterized in that, The step of generating the acceptance report also includes: The installation deviation data, point cloud model, and acceptance conclusions of each wall panel are associated with the wall panel number to generate a digital installation quality file. The digital installation quality file is uploaded to the building information model or cloud server, and the actual installation position of the wall panel is updated in the building information model to form a two-way mapping between the design model and the as-built model. When subsequent wall panels are installed, the actual position data of adjacent installed wall panels can be obtained by accessing the building information model or cloud server, which is used for adaptive adjustment of the current wall panel's preset installation position.

9. The method for installing an indoor-placed three-way adjustable exterior wall panel according to claim 2, characterized in that, After completing the installation and acceptance steps of the current wall panel, the following is also included: The current installation deviation value of the wall panel is stored in the controller, and the preset installation position is adaptively adjusted according to the deviation value during subsequent wall panel installation to compensate for the accumulated error.

10. The method for installing an indoor-placed three-way adjustable exterior wall panel according to claim 2, characterized in that, It also includes automatic handling steps for abnormal situations: During the clamping, adjustment, or scanning measurement of the wall panel, the driving torque of each axis of the three-way adjustable robotic arm assembly and the return value of the laser ranging module are monitored in real time. When the driving torque of any axis exceeds the preset threshold, it is determined that there is a clamping abnormality or movement obstruction. The axis movement is immediately stopped and it is reversed to a preset safe distance. At the same time, a clamping abnormality alarm is issued. When the return value of the laser ranging module is detected to contain consecutive invalid data or exceed the limit on the preset scanning path, it is determined to be a scanning abnormality, and the scanning speed is automatically adjusted or the current scanning path is re-executed. When the installation deviation exceeds the preset allowable range and the deviation exceeds the emergency threshold, it is determined that the installation is unqualified. The wall panel is automatically marked in the wall panel and building information model, and rework guidance information is generated.

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