A Precision Concrete Precast Component Placement System and its Control Method

Abstract

This invention discloses a precision concrete placement system and its control method for precast concrete components, comprising a vision scanning system, an industrial control system, and a placement execution mechanism. The vision scanning system performs a full-area scan of the mold platform to acquire position data and point cloud data of the side mold contour. The image processing module of the industrial control system receives the point cloud data and reconstructs the three-dimensional graphics of the mold platform. The calculation module of the industrial control system identifies the placement area based on the graphic information, evenly divides the placement area into several sub-regions, and calculates the theoretical placement amount for each sub-region. The placement control module of the industrial control system collects the actual placement amount data in real time, calculates the difference between the actual placement amount and the theoretical placement amount for each sub-region, and uses a closed-loop control algorithm to dynamically adjust the placement parameters of the next sub-region based on the difference. This invention has advantages such as simplifying the production preparation process, improving placement efficiency, improving placement uniformity and precision, and greatly reducing the component scrap rate.

Description

Technical Field

[0001] This invention relates to the field of concrete component placement technology, specifically to a precision placement system and control method for precast concrete components. Background Technology

[0002] With the acceleration of the modernization of the construction industry, the production of prefabricated concrete components is gradually transforming from manual operation to automation and intelligence. As a crucial step in component forming, the precision of the concrete placement process directly determines the component's density, flatness, and geometric dimensional compliance rate. Patent publication number CN110103329A discloses a flexible and precise concrete component production line method involving placing a side mold enclosing a space on a mold platform. This method involves placing a side mold with a rectangular reflective material marker in the center on the production line mold platform. A camera scans the platform, calculates the coordinates of the inner edge of the side mold based on the marker position, and then calculates the planar coordinates of the space enclosed by the side mold on the platform. Combined with the component thickness, a computer calculates the required concrete weight per unit area and plans the trajectory of a concrete placement robot. However, this method suffers from several drawbacks. The need to pre-set the marker on the side mold and the lack of real-time perception of the actual placement effect lead to increased production preparation steps, low placement efficiency, and the inability to achieve precise division and piece-by-piece compensation of the placement area. Furthermore, the inability to promptly correct deviations between the actual and theoretical placement amounts during the process results in low placement uniformity and precision, leading to a high scrap rate for precast components. Summary of the Invention

[0003] The technical problem to be solved by this invention is to overcome the existing defects and provide a precise material placement system and control method for precast concrete components. By automatically identifying the mold cavity contour and constructing a closed-loop control mechanism for partition difference, the production preparation process is simplified, the material placement efficiency is improved, and a method for fine division and block-by-block compensation is achieved, thereby improving the uniformity and accuracy of material placement and greatly reducing the scrap rate of components caused by insufficient or excessive material placement. The material placement compensation algorithm in the boundary area effectively solves the industry problem of missing material at the corners and corners, and can effectively solve the problems in the background technology.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a precision concrete precast component placement system, comprising a mold table conveying device, a vision scanning system, an industrial control system, and a placement execution mechanism; The mold table conveying device is used to convey the mold table with the edge mold and mesh tied to it to the fabric work station; The visual scanning system includes a three-dimensional scanning unit mounted above the fabric workstation. The three-dimensional scanning unit is used to perform a full-area scan of the mold table to obtain the position data and point cloud data of the edge mold contour. The fabric actuator includes a fabric head installed on a gantry-type three-axis moving platform. The fabric head is equipped with a flow regulating valve for adjusting the output flow rate. A weighing sensor for real-time detection of the output amount of the fabric head is provided between the fabric head and the gantry-type three-axis moving platform. The industrial control system includes an image processing module, a calculation module, a fabric control module, and a main control module. The main control module is connected to the vision scanning system, the image processing module, the calculation module, the fabric control module, and the fabric execution mechanism. The image processing module receives point cloud data collected by the vision scanning system, performs noise reduction and stitching on the collected point cloud data, reconstructs the 3D graphics of the mold platform, and extracts the boundary information of the fabric area. The calculation module automatically identifies the fabric area formed by the side mold enclosure based on the reconstructed graphic information. The calculation module evenly divides the fabric area into several sub-regions and calculates the theoretical fabric amount for each sub-region based on the design thickness of the prefabricated component. The fabric control module is connected to the fabric execution mechanism. The fabric control module collects the actual fabric amount data fed back by the fabric execution mechanism in real time, calculates the difference between the actual fabric amount and the theoretical fabric amount for each sub-region, and uses a closed-loop control algorithm to dynamically adjust the fabric parameters of the next sub-region based on the difference.

[0005] Furthermore, the closed-loop control algorithm employs a PID control algorithm, and the PID control algorithm is as follows: .

[0006] For the first Adjustment amount of fabric parameters for each sub-region , , For PID control parameters, For the first The difference between the actual fabric amount and the theoretical fabric amount in each sub-region. This is the historical cumulative difference. For the first The difference between the actual amount of fabric and the theoretical amount of fabric in each sub-region.

[0007] Furthermore, the mold platform conveying device also includes a positioning detection sensor for detecting the arrival of the upper mold and mesh on the mold platform at the fabric placement station, and the positioning detection sensor is connected to the main control module.

[0008] Furthermore, the three-dimensional scanning unit includes at least one three-dimensional vision sensor or binocular stereo vision camera, with a scanning accuracy better than ±1mm and a scanning area covering the entire mold platform area.

[0009] Furthermore, it also includes a historical database, which stores information on the area division, theoretical fabric quantity, actual fabric quantity, and difference data for each fabric application. The industrial control system periodically analyzes the historical data in the historical database to identify systematic deviations and automatically optimize boundary compensation coefficients and closed-loop control parameters.

[0010] To achieve the above objectives, the present invention also provides the following technical solution: a method for controlling the precise placement of precast concrete components, comprising a precise placement system for precast concrete components as described above, wherein the method for controlling the precise placement includes the following steps: Step S1, Mold Table Arrival Trigger: After the mold table carries the tied side mold and mesh to the fabric station, the arrival detection sensor sends a signal, and the industrial control system issues a visual self-inspection command. Step S2, Visual Scanning and Graphic Reconstruction: After receiving the instruction, the visual scanning system starts to perform a full-area scan of the mold platform, collecting the position information and point cloud data of the edge mold contour; the image processing module of the industrial control system filters and denoises the acquired point cloud data, stitches the point clouds from multiple perspectives, reconstructs the three-dimensional graphics of the mold platform, and generates the two-dimensional contour graphics and three-dimensional boundary model of the fabric area. Step S3, Cloth Area Identification and Division: The calculation module automatically identifies the cloth area formed by the edge mold enclosure based on the reconstructed graphic information; and divides the cloth area into several sub-regions on the horizontal projection plane. Each sub-region has unique planar coordinates and area attributes. Step S4, Calculation of theoretical material quantity: Based on the design thickness H of the precast component and the area of ​​each sub-region. Calculate the theoretical cloth volume of the sub-region. Then, based on the concrete density Calculate the theoretical fabric quantity for each sub-region. ; Step S5, Zoned Material Placement and Differential Closed-Loop Control: The material placement actuator sequentially places materials in each sub-region according to the planned path; during the material placement process in each sub-region, the weighing sensor measures the actual material placement amount in real time. The data is then fed back to the fabric control module; the fabric control module calculates the difference between the actual fabric amount and the theoretical fabric amount for that sub-region. If the difference exceeds the allowable range, a closed-loop control algorithm is used to dynamically compensate and adjust the fabric parameters in the next sub-region until the fabric is laid in all sub-regions.

[0011] Furthermore, in step S3, the division of the material placement area adopts an adaptive meshing method. The calculation module divides the material placement area into several small mesh blocks on the horizontal projection, and incomplete mesh blocks at the boundaries are separately marked as boundary blocks. In step S4, the calculation module corrects and compensates the material placement amount of the boundary blocks according to the slump and flow characteristics of the concrete, and the correction and compensation of the material placement amount in the boundary area is calculated according to the following formula: in, This represents the theoretical amount of fabric after correction for the boundary small blocks. This is the original theoretical amount of fabric calculated by area. For boundary compensation coefficients, Let be the side length where the boundary block contacts the edge module. Let be the average side length of the boundary block.

[0012] Furthermore, in step S4, the boundary compensation coefficient Adjust in real time according to the concrete slump: when the slump is ≥180mm Take a value of 0.05-0.08; when 120 < slump < 180 mm, Take 0.08-0.12; when the slump is ≤120mm, Take 0.12-0.15.

[0013] Furthermore, the fabric parameter adjustment in step S5 includes the fabric head moving speed and the opening degree of the flow regulating valve.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. Automatic identification of mold cavity contour and construction of a zoned difference closed-loop control mechanism: The real position and contour of the side mold are directly obtained through the vision scanning system, which can adapt to the side mold placement deviation and the boundary of irregular component. There is no need to pre-set the marking strip or other marks on the side mold, which simplifies the production preparation process. The material placement area is evenly divided into several sub-areas through the image processing module and the calculation module. The difference between the actual material placement amount and the theoretical amount is measured in real time in each sub-area, and dynamic compensation is performed in the next sub-area, so that the material placement control changes from open loop to closed loop, effectively suppressing the cumulative error caused by factors such as changes in concrete fluidity and material fluctuations. 2. Significantly improve fabric uniformity and precision: By using fine division and piece-by-piece compensation methods, the uniformity of fabric is improved, and the scrap rate of components caused by insufficient or excessive fabric is reduced by 60%; the fabric compensation algorithm in the boundary area effectively solves the industry problem of missing materials at the edges and corners. 3. Possesses parameter optimization capabilities and component quality traceability: The historical database stores information on the area division, theoretical material quantity, actual material quantity, and difference data for each material placement process. This not only facilitates the industrial control system to periodically analyze historical data in the historical database, identify systematic deviations, and automatically optimize boundary compensation coefficients and closed-loop control parameters, but also allows for precise location of the specific area and parameters of the material placement process when quality problems are found during subsequent inspections of precast components. This provides data support and basis for quality analysis and process improvement. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the precision material placement system for precast concrete components of the present invention. Figure 2 This is a flowchart of the method for controlling the precise placement of precast concrete components according to the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Example 1 Please see Figure 1 The present invention provides a technical solution: a precision concrete precast component placement system, comprising a mold table conveying device, a vision scanning system, an industrial control system, and a placement execution mechanism; The mold platform conveying device is used to transport the mold platform with the tied side mold and mesh to the fabric work station. The mold platform conveying device is equipped with a positioning detection sensor to detect when the side mold and mesh on the mold platform arrive at the fabric work station. In this embodiment, the mold platform size is 3m × 9m. The visual scanning system includes a 3D scanning unit mounted above the fabric workstation. The 3D scanning unit is used to perform a full-area scan of the mold table to acquire position data and point cloud data of the edge mold contour. The 3D scanning unit includes at least one 3D vision sensor or binocular stereo vision camera, with a scanning accuracy better than ±1mm and a scanning area covering the entire mold table area. In this embodiment, the 3D scanning unit uses an LMI Gocator 3506 structured light 3D sensor with a scanning field of view of 1.5m and a resolution of 0.5mm. The fabric feeding actuator includes a fabric feeding head mounted on a gantry-type three-axis moving platform. The moving speed of the gantry-type three-axis moving platform is 0-0.8m / s, and the positioning accuracy is ±0.5mm. The fabric feeding head is equipped with a flow regulating valve (such as a servo regulating butterfly valve) for adjusting the output flow rate. A weighing sensor for real-time detection of the output amount of the fabric feeding head is installed between the fabric feeding head and the gantry-type three-axis moving platform. The weighing sensor has an accuracy of 0.1%FS. The industrial control system includes an image processing module, a calculation module, a fabric control module, and a main control module. The main control module is connected to the position detection sensor, the vision scanning system, the image processing module, the calculation module, the fabric control module, and the fabric execution mechanism. The image processing module receives point cloud data collected by the vision scanning system, performs noise reduction and stitching on the collected point cloud data, reconstructs the three-dimensional graphics of the mold platform, and extracts the boundary information of the fabric area. The calculation module automatically identifies the fabric area formed by the side mold enclosure based on the reconstructed graphic information. The calculation module evenly divides the fabric area into several sub-regions and calculates the theoretical fabric amount for each sub-region based on the design thickness of the prefabricated component. The fabric control module is connected to the fabric execution mechanism. The fabric control module collects the actual fabric amount data fed back by the fabric execution mechanism in real time, calculates the difference between the actual fabric amount and the theoretical fabric amount for each sub-region, and uses a closed-loop control algorithm to dynamically adjust the fabric parameters of the next sub-region based on the difference. In this embodiment, the industrial control system uses an Advantech IPC-610 industrial computer, equipped with an Intel i7 processor, 32GB of memory, and an NVIDIA GTX 3060 graphics card.

[0018] The closed-loop control algorithm described in this embodiment adopts the PID control algorithm, and the PID control algorithm is as follows: (1) For the first Adjustment amount of fabric parameters for each sub-region , , For PID control parameters, For the first The difference between the actual fabric amount and the theoretical fabric amount in each sub-region. This is the historical cumulative difference. For the first The difference between the actual amount of fabric and the theoretical amount of fabric in each sub-region.

[0019] It also includes a historical database, which stores information on the area division, theoretical amount of fabric, actual amount of fabric, and difference data for each fabric application. The industrial control system periodically analyzes the historical data in the historical database to identify systematic deviations and automatically optimize boundary compensation coefficients and closed-loop control parameters.

[0020] Example 2 Please see Figure 2 This invention provides a technical solution: a method for controlling the precise placement of precast concrete components, comprising a precise placement system for precast concrete components as described above, and the method for controlling the precise placement includes the following steps: Step S1, Mold Table Arrival Trigger: After the mold table carries the tied side mold and mesh to the fabric station, the arrival detection sensor sends a signal, and the industrial control system issues a visual self-inspection command. Step S2, Visual Scanning and Graphic Reconstruction: After receiving the instruction, the visual scanning system starts and performs a full-area scan of the mold platform, collecting the position information and point cloud data of the edge mold contour; the image processing module of the industrial control system filters and denoises the acquired point cloud data, performs multi-view point cloud stitching, reconstructs the three-dimensional graphic of the mold platform, and generates a two-dimensional contour graphic and a three-dimensional boundary model of the fabric area; in this embodiment, the point cloud stitching process includes extracting the feature points of the overlapping area of ​​adjacent scanning strips, using the ICP algorithm for fine registration, and generating a complete three-dimensional point cloud model of the mold platform; Step S3, Cloth Area Identification and Division: Based on the reconstructed graphic information, the calculation module automatically identifies the cloth area formed by the edge mold enclosure and evenly divides the cloth area into several sub-regions on the horizontal projection plane. Each sub-region has unique planar coordinates and area attributes. In this embodiment, the cloth area division adopts an adaptive mesh division method (which belongs to the prior art and will not be described in detail in this invention). The calculation module divides the cloth area into several small mesh blocks (sub-regions) on the horizontal projection plane. Incomplete mesh blocks at the boundary are separately marked as boundary blocks (boundary regions). The adaptive mesh division method can dynamically adjust the mesh density according to the complexity of the component outline, densifying the mesh at complex boundaries such as corners and holes, and using a coarse mesh in regular areas to improve calculation efficiency. Step S4, Calculation of theoretical material quantity: Based on the design thickness H of the precast component and the area of ​​each grid block. Calculate the theoretical cloth volume of the mesh blocks. Then, based on the concrete density Calculate the theoretical amount of fabric for each grid cell. The volume of the fabric Theoretical fabric quantity ; Meanwhile, the calculation module corrects and compensates for the amount of concrete placed in the boundary blocks based on the slump and flow characteristics of the concrete. The correction and compensation for the amount of concrete placed in the boundary blocks is calculated according to the following formula: (2) in, This represents the theoretical amount of fabric after correction for the boundary small blocks. This is the original theoretical amount of fabric calculated by area. For boundary compensation coefficients, Let be the side length where the boundary block contacts the edge module. The average side length of the boundary block; boundary compensation coefficient. Adjust in real time according to the concrete slump: when the slump is ≥180mm Take a value of 0.05-0.08; when 120 < slump < 180 mm, Take 0.08-0.12; when the slump is ≤120mm, Take a value of 0.12-0.15; Step S5, Zoned Material Placement and Differential Closed-Loop Control: The material placement control module plans the optimal material placement path for the material placement actuator based on the zone division results, typically using an "S"-shaped or "U"-shaped path. The material placement actuator sequentially places material into each grid block according to the planned path. During the material placement process in each grid block, the weighing sensor measures the actual material placement amount in real time. The data is then fed back to the fabric control module; the fabric control module calculates the difference between the actual fabric amount and the theoretical fabric amount for that grid cell. , If the difference If the deviation exceeds the allowable range (e.g., ±3%), the aforementioned PID control algorithm will be used to dynamically compensate and adjust the fabric parameters in the next grid segment, and... Substitute into the control algorithm (1); the fabric parameters include the fabric head moving speed and the opening of the flow regulating valve until all grid small pieces of fabric are completed.

[0021] Example 1 illustrating the specific implementation process of precision fabric fabric: Taking the production of a standard composite board (2.4m×6.0m in size and 60mm in thickness) as an example, the implementation process includes the following: After the mold table is in place, the vision scanning system is started and completes a full-area scan within 45 seconds, acquiring approximately 3 million point cloud data points; after filtering and splicing, the industrial control system extracts the inner contour of the edge mold and identifies the actual size of the fabric area as 2405mm×6012mm (slightly deviating from the design size, reflecting the edge mold placement error). The calculation module divides the fabric area into 24×60 100mm×100mm grid blocks, with 73 incomplete grid blocks at the boundaries marked separately as boundary blocks; based on the component's design thickness H of 60mm, the theoretical fabric volume of each complete grid block is calculated. The theoretical fabric weight is 0.0006 m³. It weighs 1.44 kg (concrete density 2400 kg / m³). The material control module plans an "S"-shaped material placement path, and the material placement execution module sequentially places material into each grid cell according to the planned path. During the material placement process, the industrial control system records the actual material placement amount for each grid cell in real time. The actual material placement amount for the first grid cell is... The difference is 1.42 kg. The weight is -0.02 kg; a PID control algorithm is used based on the difference of the first grid block. The fabric parameters of the second grid block are dynamically adjusted, with the fabric head moving speed finely adjusted from 0.5m / s to 0.49m / s, thus adjusting the actual amount of fabric in the second grid block. The actual weight was 1.45 kg, which was slightly over after compensation. The grid was continuously and dynamically adjusted. After the entire board was laid, the total actual weight was 2085 kg, the theoretical weight was 2074 kg, and the deviation was +0.53%, which met the requirement of ≤±2% for the weight of the material.

[0022] Effect comparison: Before implementing this fabric laying system, the fabric laying process on this production line relied on manual operation, with a thickness deviation of ±5mm for the laminated board; after implementation, the thickness deviation was controlled within ±2mm, and the fabric laying efficiency was improved by 40%.

[0023] Example 2 illustrating the specific implementation process of precision fabric application: For components with irregular boundaries, such as stair slabs with missing corners, conventional uniform mesh generation can lead to calculation errors in the theoretical quantities of small boundary blocks. This fabric system adopts adaptive mesh generation: a coarse 200mm×200mm mesh is used in regular areas; at complex boundaries such as missing corners and holes, the mesh is refined to 50mm×50mm.

[0024] The calculation module adjusts and compensates the amount of concrete placed in the boundary blocks (boundary areas) based on the slump and flow characteristics of the concrete, using a boundary compensation coefficient. Dynamic adjustment based on concrete slump: When the slump is ≥180mm (good fluidity), Take a value of 0.05-0.08; when 120 < slump < 180 mm, Use 0.08-0.12; when the slump is ≤120mm (poor fluidity), The value is set to 0.12-0.15; practical applications show that the pass rate of the fabric in the boundary area after dynamic compensation increases from 78% to 94%.

[0025] This invention discloses a precision concrete placement system and control method for precast concrete components. It directly acquires the true position and contour of the side mold through a visual scanning system, adapting to side mold placement deviations and irregular component boundaries. It eliminates the need for pre-set markings or other markings on the side mold, simplifying production preparation. The system uses an image processing and calculation module to evenly divide the placement area into several sub-regions. Within each sub-region, the difference between the actual and theoretical placement quantities is measured in real time, and dynamic compensation is performed in the next sub-region, transforming the placement control from an open-loop to a closed-loop system. This effectively suppresses cumulative errors caused by factors such as changes in concrete fluidity and material fluctuations. Through precise division and step-by-step... The block compensation method improves the uniformity of material distribution, reducing the scrap rate of components due to insufficient or excessive material distribution by 60%. The material distribution compensation algorithm in the boundary area effectively solves the industry problem of missing material at corners. By storing the area division information, theoretical material distribution amount, actual material distribution amount and difference data for each material distribution in the historical database, it is not only convenient for the industrial control system to regularly analyze the historical data in the historical database, identify systematic deviations, and automatically optimize the boundary compensation coefficient and closed-loop control parameters, but also when quality problems are found in the subsequent inspection of precast components, it can accurately locate the specific area and parameters of the material distribution process, providing data support and basis for quality analysis and process improvement.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A precision placement system for precast concrete components, characterized in that: This includes a mold table conveyor, a vision scanning system, an industrial control system, and a material placement actuator; The mold table conveying device is used to convey the mold table with the edge mold and mesh tied to it to the fabric work station; The visual scanning system includes a three-dimensional scanning unit mounted above the fabric workstation. The three-dimensional scanning unit is used to perform a full-area scan of the mold table to obtain the position data and point cloud data of the edge mold contour. The fabric actuator includes a fabric head installed on a gantry-type three-axis moving platform. The fabric head is equipped with a flow regulating valve for adjusting the output flow rate. A weighing sensor for real-time detection of the output amount of the fabric head is provided between the fabric head and the gantry-type three-axis moving platform. The industrial control system includes an image processing module, a calculation module, a fabric control module, and a main control module. The main control module is connected to the vision scanning system, the image processing module, the calculation module, the fabric control module, and the fabric actuator, respectively. The image processing module is used to receive point cloud data collected by the vision scanning system, and to perform noise reduction and stitching processing on the collected point cloud data, reconstruct the three-dimensional graphics of the mold platform, and extract the boundary information of the fabric area. The calculation module automatically identifies the fabric area formed by the side mold enclosure based on the reconstructed graphic information. The calculation module divides the fabric area into several sub-areas and calculates the theoretical amount of fabric for each sub-area based on the design thickness of the prefabricated component. The fabric control module is connected to the fabric actuator. The fabric control module collects the actual fabric quantity data fed back by the fabric actuator in real time, calculates the difference between the actual fabric quantity and the theoretical fabric quantity in each sub-region, and uses a closed-loop control algorithm to dynamically adjust the fabric parameters of the next sub-region based on the difference.

2. The precision placement system for precast concrete components according to claim 1, characterized in that: The closed-loop control algorithm adopts the PID control algorithm, and the PID control algorithm is as follows: 。 For the first Adjustment amount of fabric parameters for each sub-region , , For PID control parameters, For the first The difference between the actual fabric amount and the theoretical fabric amount in each sub-region. This is the historical cumulative difference. For the first The difference between the actual amount of fabric and the theoretical amount of fabric in each sub-region.

3. The precision placement system for precast concrete components according to claim 1, characterized in that: The mold platform conveying device also includes a positioning detection sensor for detecting the arrival of the upper mold and mesh on the mold platform at the fabric placement station. The positioning detection sensor is connected to the main control module.

4. The precision placement system for precast concrete components according to claim 1, characterized in that: The three-dimensional scanning unit includes at least one three-dimensional vision sensor or binocular stereo vision camera, with a scanning accuracy better than ±1mm and a scanning area covering the entire mold platform area.

5. The precision placement system for precast concrete components according to claim 1, characterized in that: It also includes a historical database, which stores information on the area division, theoretical amount of fabric, actual amount of fabric, and difference data for each fabric application. The industrial control system periodically analyzes the historical data in the historical database to identify systematic deviations and automatically optimize boundary compensation coefficients and closed-loop control parameters.

6. A method for controlling the precise placement of precast concrete components, comprising a precise placement system for precast concrete components as described in any one of claims 1-5, characterized in that, The method for precise fabric control includes the following steps: Step S1, Mold Table Arrival Trigger: After the mold table carries the tied side mold and mesh to the fabric station, the arrival detection sensor sends a signal, and the industrial control system issues a visual self-inspection command. Step S2, Visual Scanning and Graphic Reconstruction: After receiving the instruction, the visual scanning system starts to perform a full-area scan of the mold platform, collecting the position information and point cloud data of the edge mold contour; the image processing module of the industrial control system filters and denoises the acquired point cloud data, stitches the point clouds from multiple perspectives, reconstructs the three-dimensional graphics of the mold platform, and generates the two-dimensional contour graphics and three-dimensional boundary model of the fabric area. Step S3, Cloth Area Identification and Division: The calculation module automatically identifies the cloth area formed by the edge mold enclosure based on the reconstructed graphic information; and divides the cloth area into several sub-regions on the horizontal projection plane. Each sub-region has unique planar coordinates and area attributes. Step S4, Calculation of theoretical material quantity: Based on the design thickness H of the precast component and the area of ​​each sub-region. Calculate the theoretical cloth volume of the sub-region. Then, based on the concrete density Calculate the theoretical fabric quantity for each sub-region. ; Step S5, Zoned Material Placement and Differential Closed-Loop Control: The material placement actuator sequentially places materials in each sub-region according to the planned path; during the material placement process in each sub-region, the weighing sensor measures the actual material placement amount in real time. The data is then fed back to the fabric control module; the fabric control module calculates the difference between the actual fabric amount and the theoretical fabric amount for that sub-region. If the difference exceeds the allowable range, a closed-loop control algorithm is used to dynamically compensate and adjust the fabric parameters in the next sub-region until the fabric is laid in all sub-regions.

7. The method for controlling the precise placement of precast concrete components according to claim 6, characterized in that: In step S3, the material distribution area is divided using an adaptive meshing method. The calculation module divides the material distribution area into several small mesh blocks on the horizontal projection, and incomplete mesh blocks at the boundaries are separately marked as boundary blocks. In step S4, the calculation module corrects and compensates the material distribution amount of the boundary blocks based on the slump and flow characteristics of the concrete. The correction and compensation for the material distribution amount in the boundary area is calculated according to the following formula: in, This represents the theoretical amount of fabric after correction for the boundary small blocks. This is the original theoretical amount of fabric calculated by area. For boundary compensation coefficients, Let be the side length where the boundary block contacts the edge module. Let be the average side length of the boundary block.

8. The method for controlling the precise placement of precast concrete components according to claim 7, characterized in that: In step S4, the boundary compensation coefficient Adjust in real time according to the concrete slump: when the slump is ≥180mm Take a value of 0.05-0.08; when 120 < slump < 180 mm, Take 0.08-0.12; when the slump is ≤120mm, Take 0.12-0.

15.

9. The method for controlling the precise placement of precast concrete components according to claim 7, characterized in that: The fabric parameter adjustment in step S5 includes the fabric head moving speed and the opening degree of the flow regulating valve.

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