Intelligent mechanical driving prefabricated plate accurate positioning assembly system

Abstract

The application relates to the technical field of prefabricated plate positioning and assembling, in particular to an intelligent mechanical driving prefabricated plate accurate positioning and assembling system, which comprises a space reference construction module used for constructing prefabricated plate assembling space reference parameters; a dynamic state acquisition module used for constructing a dynamic assembling state sequence according to a preset sampling time sequence; a switching window identification module used for identifying a load path switching window based on the dynamic assembling state sequence; a hole position alignment and locking module used for calculating a prefabricated plate secondary drift amount and judging whether to enter an attitude fine adjustment state according to the prefabricated plate secondary drift amount; and a support compensation module used for generating a vertical compensation amount and controlling corresponding support mechanisms to execute vertical fine adjustment compensation. The application realizes prefabricated plate accurate positioning and assembling by constructing a unified space reference, synchronously acquiring position, attitude, hole position deviation and stress parameters under the unified space reference, identifying secondary drift and executing support compensation in the load path switching process.

Description

Technical Field

[0001] This application relates to the field of precast panel positioning and assembly technology, specifically to an intelligent mechanically driven precast panel precision positioning and assembly system. Background Technology

[0002] Precast slab assembly is widely used in construction scenarios such as subway tunnels, underground spaces, and prefabricated buildings. Precast slabs typically need to be hoisted to the target installation location using lifting equipment, and then finally positioned using supporting mechanisms, positioning pins, or limiting structures. Due to the large size and weight of precast slabs, and the small clearance between the positioning holes and the installation reference, the assembly process requires not only controlling the overall spatial position of the precast slab, but also simultaneously controlling its tilt attitude, positioning hole deviation, and support stress state.

[0003] In the current precast slab assembly process, when the precast slab is close to the target installation position, the construction personnel generally make adjustments based on the edge position of the precast slab, the alignment of the positioning holes, or feedback from the hoisting equipment. After believing that the positioning holes are basically aligned, they perform the operation of inserting positioning pins or supporting and lowering the slab. Although this method can meet the general assembly requirements, the force path of the precast slab will change as the force on the precast slab gradually changes from being suspended by the hoisting equipment to being supported by the support mechanism. The tension of the hoisting equipment gradually decreases, and the support pressure of the support mechanism gradually builds up. The precast slab is prone to secondary drift due to uneven local support, slight changes in posture, or sinking of the support point.

[0004] The aforementioned secondary drift usually occurs after the positioning holes are nearly aligned, and the drift amplitude is small and the duration is short. It is difficult to identify in time by relying solely on manual observation or static position detection. If the positioning pin is fully inserted directly at this stage, it can easily cause bias, jamming, or hole wall compression between the positioning pin and the positioning hole. In severe cases, it can cause damage to the edge of the positioning hole, skewed posture of the precast slab, abnormal force on the support mechanism, and even require the precast slab to be lifted again for secondary assembly, affecting assembly efficiency and construction safety. Summary of the Invention

[0005] To address the aforementioned issues, this application provides an intelligent mechanically driven precast slab precision positioning and assembly system. By constructing a unified spatial reference, the system synchronously collects position, attitude, hole position deviation, and force parameters under the unified spatial reference. Furthermore, it identifies secondary drift and performs support compensation during load path switching, thereby achieving precise positioning and assembly of precast slabs.

[0006] This application adopts the following technical solution: an intelligent mechanically driven precast panel precision positioning and assembly system, comprising: The spatial reference construction module is used to establish a unified assembly coordinate system and construct prefabricated slab assembly spatial reference parameters based on the unified assembly coordinate system. The dynamic status acquisition module is used to synchronously acquire assembly parameters when the prefabricated slab to be installed enters the preset proximity range of the target installation position, calculate the positioning hole deviation in conjunction with the prefabricated slab assembly space reference parameters, and construct a dynamic assembly status sequence according to the preset sampling time sequence. The switching window recognition module identifies the load path switching window based on the dynamic assembly state sequence; The hole alignment and locking module is used to generate a hole alignment and locking reference before the precast slab enters the load path switching window. Within the load path switching window, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the current positioning hole deviation are compared with the hole alignment and locking reference, respectively. The secondary drift of the precast slab is calculated, and the attitude fine-tuning state is determined based on the secondary drift of the precast slab. The support compensation module is used to determine the sinking trend and support pressure increment of each support mechanism after the precast slab enters the attitude fine-tuning state, based on the spatial position drift, attitude drift, positioning hole deviation change and support pressure of the support mechanism, generate vertical compensation amount, and control the corresponding support mechanism to perform vertical fine-tuning compensation.

[0007] As a further description of the above technical solution: the precast panel assembly space reference parameters include the target installation reference point P0 and the target positioning hole position H. i Installation location of the support mechanism C j and the physical coordinates M of the visual marker point k ; The method for obtaining the target installation reference point includes: Based on the design and installation data of the precast slab to be installed, a target installation reference point is determined in the unified assembly coordinate system. The target installation reference point is the preset position point that the precast slab should reach after installation, and the target installation reference point is the geometric center point of the precast slab.

[0008] As a further description of the above technical solution: the method for obtaining the position of the target positioning hole includes: A coordinate system for the precast slab body is constructed with the geometric center point of the precast slab as the origin, the length direction of the precast slab as the u-axis, the width direction of the precast slab as the v-axis, and the thickness direction of the precast slab as the w-axis. Based on the precast slab design drawings, obtain the fixed coordinates of the center point of each positioning hole relative to the coordinate system of the precast slab body; Based on the target installation reference point and the design installation posture of the precast slab, the body coordinates of the center point of the positioning hole are converted into the target positioning hole position under a unified assembly coordinate system.

[0009] As a further description of the above technical solution: the physical coordinates M of the visual marker point k The methods for obtaining it include: At least three non-collinear visual markers are set on the precast slab to be installed, and the fixed coordinates of each visual marker in the precast slab's body coordinate system are measured in advance. The body coordinates of the k-th visual marker are denoted as M. k =(u k v k w k ), where M k This represents the fixed position of the k-th visual marker point relative to the coordinate system of the precast slab body.

[0010] As a further description of the above technical solution: the assembly parameters include the lifting tension, the supporting pressure of the supporting mechanism, and the current tilt angle of the precast slab; The method for obtaining the current tilt angle of the precast slab includes: acquiring the real-time spatial coordinates of the k-th visual marker point at the n-th sampling time, denoted as M. k,n′ Compared with the pre-acquired visual marker point body coordinates M k Calculate the rigid body transformation relationship from the precast slab body coordinate system to the unified assembly coordinate system at the nth sampling time: P′=R n ·P+T n Among them, R n T represents the rotation matrix corresponding to the precast slab's attitude at the nth sampling time. n Let P represent the translation vector corresponding to the spatial position of the precast slab at the nth sampling time, P represent the coordinates of any point in the precast slab body coordinate system, and P′ represent the coordinates of that point after being transformed to the unified assembly coordinate system. Based on the rotation matrix R at the nth sampling time n Extract the current tilt angle of the precast slab.

[0011] As a further description of the above technical solution: the method for obtaining the positioning hole deviation includes: Based on the rigid body transformation relationship from the precast slab body coordinate system to the unified assembly coordinate system at the nth sampling time, the center point Q of the i-th positioning hole in the precast slab body coordinate system is... i Transform to a unified assembly coordinate system to obtain the actual spatial position H of the center point of the i-th positioning hole at the n-th sampling time. i,n′ ; The actual spatial position H of the center point of the positioning hole i,n′ Position H of the target positioning hole i By comparison, the positioning hole deviation ΔH of the i-th positioning hole at the n-th sampling time is obtained. n .

[0012] As a further description of the above technical solution: the method for constructing a dynamic assembly state sequence includes: At the nth sampling time, the lifting tension, the supporting pressure of the support mechanism, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the deviation of the positioning hole are combined into a single frame of dynamic assembly status data. Multiple single-frame dynamic assembly state data obtained by continuous sampling are arranged in chronological order to form a dynamic assembly state sequence.

[0013] As a further description of the above technical solution: the method for identifying the load path switching window includes: Set a load trend analysis time period in the dynamic assembly state sequence, and calculate the decrease in lifting force and the increase in total support pressure within the load trend analysis time period; When both the effective descent of the spreader tension and the effective establishment of support by the supporting mechanism are met within the same load trend analysis period, the corresponding load trend analysis period will be determined as a candidate segment for load path switching. The starting point of the first time period that meets the candidate segment determination criteria is determined as the start time of the load path switching window. After the start time, the spreader tension is monitored. When the spreader tension is zero, the corresponding time point is determined as the end time of the load path switching window, thus obtaining the load path switching window.

[0014] As a further description of the above technical solution: the method for determining the effective reduction of the spreader tension and the effective establishment of support by the supporting mechanism is as follows: when the amount of reduction of the spreader tension is greater than the preset tension reduction threshold, and the spreader tension shows a continuous downward trend during the load trend analysis period, the spreader tension is determined to have effectively decreased; When the increase in total support pressure exceeds the preset support pressure increase threshold, and the total support pressure shows a continuous upward trend during the load trend analysis period, it is determined that the support mechanism has effectively established support.

[0015] As a further description of the above technical solution: the method for generating the hole alignment and locking reference includes: The sampling time before the start time of the load path switching window is taken as the hole alignment locking time, and the spatial position of the precast plate reference point in the unified assembly coordinate system is recorded as the spatial position locking value. At the moment of hole alignment and locking, record the current tilt angle of the precast plate relative to the unified assembly coordinate system as the attitude locking value; At the moment of hole alignment and locking, the current positioning hole deviation of the precast slab is recorded as the positioning hole deviation locking value ΔH. lock ; The spatial position lock value, attitude lock value, and positioning hole deviation lock value are correlated and used as the hole alignment lock reference.

[0016] As a further description of the above technical solution: the method for calculating the secondary drift of the precast slab includes: Within the load path switching window, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the deviation of the positioning holes are continuously acquired according to the preset sampling period at the current sampling time. The spatial position of the precast slab reference point is compared with the spatial position lock value to obtain the spatial position drift. The current tilt angle of the precast slab is compared with the attitude lock value to obtain the attitude drift amount; Compare the current positioning hole deviation with the positioning hole deviation lock value to obtain the change in positioning hole deviation. After normalizing the obtained spatial position drift, attitude drift, and positioning hole deviation, a weighted fusion was performed to obtain the secondary drift of the precast slab.

[0017] As a further description of the above technical solution: the method for determining whether to enter the attitude fine-tuning state based on the secondary drift amount of the precast slab includes: The secondary drift amount D of the precast slab n Compare with the preset secondary drift threshold; When D n If the value is less than or equal to the preset secondary drift threshold, the alignment status of the precast panel is determined to be valid during the load path switching process, and then the assembly continues. When D n When the value exceeds the preset secondary drift threshold, it is determined that the precast slab has experienced secondary drift during the load path switching process, and it enters the attitude fine-tuning state to adjust the support mechanism.

[0018] As a further description of the above technical solution: the method for obtaining the downward trend amount includes: Read the spatial position drift, attitude drift, positioning hole deviation change, support pressure of each support mechanism, and installation position of each support mechanism at the current sampling time; Using the spatial position locking value at the moment of hole alignment and locking as the reference for attitude fine-tuning analysis, calculate the planar relative coordinates of the j-th support mechanism relative to the spatial position locking value; Based on the vertical position drift, attitude drift, and vertical deviation change of the positioning holes in the precast slab, the equivalent vertical offset of the j-th support mechanism is calculated. Based on the equivalent vertical offset Calculate the sinking trend of the j-th supporting structure.

[0019] As a further description of the above technical solution: the method for generating vertical compensation includes: inputting the acquired subsidence trend, support pressure increment and bearing distribution coefficient into a pre-constructed vertical compensation prediction module, outputting the vertical compensation, and the support compensation module sending the vertical compensation to the corresponding support mechanism, so that the corresponding support mechanism can be finely adjusted upward in the vertical direction.

[0020] The beneficial effects of this application are as follows: This application establishes a unified assembly coordinate system, linking the target installation reference point, target positioning hole position, support mechanism installation position, and visual marker point coordinates. Simultaneously, as the precast slab approaches the target installation position, it collects data on lifting tension, support pressure, spatial position, tilt angle, and positioning hole deviation, forming a dynamic assembly state sequence. This allows for continuous identification of changes in position, attitude, and hole position of the precast slab as it transitions from suspended to supported force, improving the accuracy of precast slab positioning calculations and the reliability of assembly state judgment.

[0021] Furthermore, by identifying the load path switching window formed by the decrease in lifting tension and the increase in support pressure, a hole alignment and locking benchmark is generated before this window. Within the window, the secondary drift of the precast slab is calculated to determine whether to enter the attitude fine-tuning state. When secondary drift occurs, a vertical compensation amount is generated based on the sinking trend of each support mechanism and the increase in support pressure, controlling the corresponding support mechanism to perform fine-tuning. This avoids the already aligned hole positions from shifting again during load transfer, reduces locating pin jamming, hole wall compression, and repeated corrections, and improves the final placement accuracy of the precast slab. Attached Figure Description

[0022] The present application will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 A module connection diagram of a smart mechanically driven prefabricated slab precision positioning and assembly system provided in this application; Figure 2 A flowchart of the method for identifying the load path switching window provided in this application; Figure 3 A flowchart illustrating the method for calculating the secondary drift of precast slabs provided in this application. Detailed Implementation

[0023] To make the technical means, inventive features, objectives, and effects of this application easier to understand, the application is further described below with reference to specific illustrations. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0024] Please see Figures 1-3 This application provides a technical solution: an intelligent mechanically driven prefabricated panel precision positioning and assembly system, comprising: The spatial reference construction module is used to establish a unified assembly coordinate system and construct precast panel assembly spatial reference parameters based on the unified assembly coordinate system. These precast panel assembly spatial reference parameters include the target installation reference point P0 and the target positioning hole position H. i Installation location of the support mechanism C j and the physical coordinates M of the visual marker point k The precast panel assembly space reference parameters are used to determine the spatial positional deviation, attitude deviation, and positioning hole deviation of the precast panel to be installed relative to the target installation position. In some embodiments, the implementation steps include: Methods for establishing a unified assembly coordinate system include: A fixed structural reference is selected within the subway passage or station as the origin of the coordinate system. The fixed structural reference is the verified control point of the passage centerline, the control point of the platform structure, or the reference corner point of the first precast slab that has been installed. With the fixed structural reference as the origin, the longitudinal extension direction of the subway passage is the X-axis, the lateral width direction of the subway passage is the Y-axis, and the vertical height direction is the Z-axis, a unified assembly coordinate system is established so that the precast slab to be installed, the target installation position, and the supporting mechanism can all be described in the same coordinate system.

[0025] The methods for setting the target installation reference point include: Based on the design and installation data of the precast slab to be installed, a target installation reference point is determined within the unified assembly coordinate system. The target installation reference point is the preset position point that the precast slab should reach after installation. The target installation reference point is the geometric center point of the precast slab. The coordinates of the target installation reference point are denoted as P0 = (X0, Y0, Z0), where X0 represents the coordinates of the target installation reference point in the longitudinal direction of the subway passage, Y0 represents the coordinates of the target installation reference point in the transverse direction of the subway passage, and Z0 represents the coordinates of the target installation reference point in the vertical direction.

[0026] Methods for obtaining the location of the target positioning hole include: A precast slab body coordinate system is established on the precast slab to be installed. This coordinate system has its origin at the geometric center point of the precast slab, its length direction as the u-axis, its width direction as the v-axis, and its thickness direction as the w-axis. Based on the precast slab design drawings or manufacturing data, the fixed coordinates of each positioning hole center point relative to the precast slab body coordinate system are obtained, and the body coordinates of the i-th positioning hole center point are denoted as Q. i =(u i v i w i ), where u i v represents the longitudinal distance of the center point of the i-th positioning hole relative to the origin of the precast slab's coordinate system. iw represents the width-direction distance of the center point of the i-th positioning hole relative to the origin of the precast slab's coordinate system. i This represents the thickness-direction distance between the center point of the i-th positioning hole and the origin of the precast slab's coordinate system.

[0027] Based on the target installation reference point P0 and the designed installation posture of the precast slab, the body coordinates Q of the center point of the i-th positioning hole are determined. i Convert the target positioning hole position to the unified assembly coordinate system, denoted as H. i = (X i Y i Z i ), where H i This represents the target position that the i-th positioning hole should reach after the prefabricated slab is installed. The target positioning hole position is used for subsequent comparison with the real-time positioning hole position to obtain the positioning hole deviation.

[0028] Specifically, based on the target installation reference point P0 and the designed installation posture of the precast slab, the body coordinates Q of the center point of the i-th positioning hole are determined. i Methods for converting the target positioning hole position to a unified assembly coordinate system include: Based on the designed installation posture of the precast slab, the directional relationship between the precast slab body coordinate system and the unified assembly coordinate system is determined, and a design posture transformation relationship is formed. Since the target installation reference point is the geometric center point of the precast slab, and the precast slab body coordinate system takes the geometric center point of the precast slab as its origin, the target installation reference point P0 is the unified assembly coordinate system coordinate corresponding to the origin of the precast slab body coordinate system in the completed installation state.

[0029] When converting the target positioning hole position, first, according to the designed installation posture of the prefabricated slab, set the body coordinates Q of the center point of the i-th positioning hole. i Convert to spatial offset in a unified assembly coordinate system.

[0030] Then, this spatial offset is superimposed on the target installation reference point to obtain the target positioning hole position H of the i-th positioning hole center point in the unified assembly coordinate system. i Therefore, the target positioning hole position H i This represents the target spatial coordinates that the i-th positioning hole should reach after the prefabricated slab is installed. These coordinates are used to compare with the real-time positioning hole positions to obtain the positioning hole deviation.

[0031] Methods for obtaining the installation location of the support mechanism include: The center of the support head of multiple support mechanisms on the assembly trolley or mechanical drive device is set as a measurement marker point. The position of the support center of each support mechanism in a unified assembly coordinate system is measured by a laser tracker. The installation position of the j-th support mechanism is denoted as C. j =(Xcj Yc j Zc j ), where Xc j Yc represents the coordinates of the j-th supporting structure in the longitudinal direction of the subway passage. j Zc represents the coordinates of the j-th supporting structure in the transverse direction of the subway passage. j This represents the vertical coordinates of the j-th support mechanism. The installation position of the support mechanism is used to determine the corresponding support mechanism and support compensation direction during the load transfer process of the precast slab.

[0032] Visual marker point body coordinates M k The methods for obtaining it include: At least three non-collinear visual markers are set on the precast slab to be installed, and the fixed coordinates of each visual marker in the precast slab's body coordinate system are measured in advance. The body coordinates of the k-th visual marker are denoted as M. k =(u k v k w k ), where M k This represents the fixed position of the k-th visual marker point relative to the precast slab's body coordinate system. Since the visual marker points are fixedly set on the precast slab, their body coordinates remain unchanged during the precast slab assembly process.

[0033] Set the target installation reference point P0 and the target positioning hole position H. i Installation location of the support mechanism C j and the physical coordinates M of the visual marker point k The parameters are associated and stored to form the spatial reference parameters for prefabricated panel assembly.

[0034] In this embodiment, by establishing a unified assembly coordinate system and uniformly associating the target installation reference point, target positioning hole position, support mechanism installation position, and visual marker point body coordinates, the precast slab body coordinates, target installation position, and support mechanism position can all be described under the same spatial reference. Therefore, the overall positional deviation, attitude deviation, and positioning hole deviation of the precast slab are no longer judged independently, but rather form a unified spatial positioning relationship, improving the accuracy and consistency of precast slab assembly positioning calculations.

[0035] The dynamic status acquisition module is used to synchronously acquire assembly parameters when the precast slab to be installed enters the preset proximity range of the target installation position. It then calculates the positioning hole deviation in conjunction with the precast slab assembly space reference parameters and constructs a dynamic assembly status sequence according to a preset sampling time order. The assembly parameters include the lifting tension, the supporting pressure of the support mechanism, and the current tilt angle of the precast slab.

[0036] In some implementation methods, the implementation steps include: When the precast slab to be installed enters the preset approach range of the target installation position, dynamic assembly status acquisition is initiated. The preset approach range is set according to the construction and installation accuracy requirements. For example, when the spatial distance between the reference point of the precast slab to be installed and the target installation reference point is less than the preset approach distance, the precast slab to be installed is determined to have entered the approach assembly state. After initiating dynamic assembly status acquisition, the current time is recorded as the start time of dynamic acquisition, and assembly status data is continuously acquired according to a preset sampling period. The preset approach distance is the minimum distance at which the precast slab completes braking and stopping.

[0037] The method for obtaining the lifting force of the spreader includes: As the precast slab approaches the target installation position, tension sensors mounted on the lifting equipment, slings, or beams collect the tension of the lifting equipment. When the lifting equipment has multiple lifting points, the tension at each point is collected separately, and the tensions at each point are summed to obtain the total lifting equipment tension at the current sampling time. The lifting equipment tension at the nth sampling time is denoted as F. t,n , of which F t,n This indicates the magnitude of the tensile force borne by the lifting device on the precast slab at the nth sampling time.

[0038] The method for obtaining the supporting pressure of the supporting mechanism includes: The support pressure of each support mechanism is collected by pressure sensors installed at the support heads of each support mechanism. The support pressure of the j-th support mechanism at the nth sampling time is denoted as F. cj,n The supporting pressure of all supporting mechanisms at the same sampling time is combined to form the supporting pressure F of the supporting mechanism. cn =[Fc 1,n F c2,n , ..., F cm,n] Where m represents the number of supporting mechanisms. The supporting pressure of the supporting mechanism is used to characterize the stress establishment state of the precast slab under different supporting mechanisms.

[0039] The method for obtaining the current tilt angle of the precast slab includes: acquiring the real-time spatial coordinates of each visual marker point on the precast slab to be assembled in a unified assembly coordinate system using a laser tracker, and denoting the real-time spatial coordinates of the k-th visual marker point at the nth sampling time as M. k,n′ = (X k,n′ Y k,n′ Z k,n′ ).

[0040] Based on the pre-acquired visual marker point body coordinates M k and the real-time spatial coordinates M of the visual marker points acquired at the current sampling time. k,n′ Calculate the rigid body transformation relationship from the precast slab body coordinate system to the unified assembly coordinate system at the nth sampling time: P′=R n ·P+T n ; Among them, R n T represents the rotation matrix corresponding to the precast slab's attitude at the nth sampling time. n Let P represent the translation vector corresponding to the spatial position of the precast slab at the nth sampling time, P represent the coordinates of any point in the precast slab body coordinate system, and P′ represent the coordinates of that point after transformation to the unified assembly coordinate system.

[0041] Based on the rotation matrix R at the nth sampling time n Extract the current tilt angle of the precast slab to obtain ,in, This indicates the angle of inclination of the precast slab along the longitudinal direction of the subway tunnel. This indicates the angle of inclination of the precast slab in the lateral direction around the subway tunnel. This indicates the deflection angle of the precast slab about the vertical direction. The current tilt angle of the precast slab is used to characterize whether the precast slab undergoes pitch, tilt, or planar deflection as it approaches the target installation position.

[0042] The method for obtaining the spatial location of the precast slab reference point includes: Based on the rigid body transformation relationship, the precast slab reference point in the precast slab body coordinate system at the nth sampling time is... Transform to a unified assembly coordinate system. ; Obtain the spatial position of the precast slab reference point at the nth sampling time. = (X n Y n Z n ), where X n This represents the real-time coordinates of the precast slab reference point in the longitudinal direction of the subway tunnel, Y. n Z represents the real-time coordinates of the precast slab reference point in the transverse direction of the subway tunnel. n This indicates the real-time coordinates of the precast slab reference point in the vertical direction.

[0043] The method for obtaining the positioning hole deviation includes: based on the rigid body transformation relationship at the nth sampling time, determining the center point Q of the i-th positioning hole in the precast slab body coordinate system. i Transform to a unified assembly coordinate system to obtain the actual spatial position H of the center point of the i-th positioning hole at the n-th sampling time. i,n′ H i,n′ =R n ·Q i +Tn.

[0044] The actual spatial position H of the center point of the positioning hole i,n′ Position H of the target positioning hole i By comparison, the positioning hole deviation ΔH of the center point of the i-th positioning hole at the n-th sampling time is obtained. n .

[0045] The positioning hole deviation is expressed as a three-dimensional deviation ΔX. i,n ΔY i,n ΔZ i,n Alternatively, the comprehensive positioning hole deviation can be calculated based on the three-dimensional deviation. To ensure that the lifting tension, the supporting pressure of each support mechanism, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the positioning hole deviation correspond to the same assembly state, a unified timestamp is added to all types of collected data.

[0046] At the nth sampling time, the following parameters are considered: lifting tension Ft,n, supporting pressure Fcn of the support mechanism, spatial position Pn of the precast slab reference point, current tilt angle An of the precast slab, and positioning hole deviation ΔH. n The data is combined into a single frame of dynamic assembly state data, denoted as: Sn={t n F t,n F cn P n A n ΔH n}; Among them, t n F represents the nth sampling time. t,n F represents the lifting force of the spreader. cn P represents the supporting pressure of the supporting mechanism. n Indicates the spatial location of the precast slab reference point, A n Indicates the current tilt angle of the precast slab, ΔH n This indicates the deviation of the positioning hole.

[0047] The multiple single-frame dynamic assembly state data obtained by continuous sampling are arranged in chronological order to form a dynamic assembly state sequence: S = {S1, S2, ..., Sn}; Wherein, S represents the dynamic assembly state sequence. The dynamic assembly state sequence is used to continuously characterize the load changes, position changes, attitude changes, and positioning hole deviation changes during the transition of the precast slab from a suspended stress state to a mechanically supported stress state, and provides a data basis for subsequent identification of load path switching windows, calculation of precast slab secondary drift, and execution of multi-point support compensation.

[0048] In this embodiment, after the precast slab to be installed enters the preset proximity range of the target installation position, the tensile force of the lifting device, the supporting pressure of the supporting mechanism, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the deviation of the positioning holes are simultaneously collected, and a dynamic assembly state sequence is constructed according to the sampling time sequence. Through this dynamic assembly state sequence, the position changes, attitude changes, hole position changes, and load changes of the precast slab during the transition from a suspended stress state to a mechanically supported stress state can be continuously characterized, providing a reliable data foundation for subsequent identification of load path switching windows.

[0049] The switching window identification module, based on the dynamic assembly state sequence, calculates the decrease in the lifting force of the spreader within a preset time period and the increase in the supporting pressure of the supporting mechanism within the same preset time period, and identifies the load path switching window; within the load path switching window, the complete insertion of the positioning pin is paused; in some embodiments, the implementation steps include: Read the tension of the lifting device and the support pressure of each supporting mechanism at each sampling time, and sum the support pressures of each supporting mechanism at the same sampling time to obtain the total support pressure.

[0050] A load trend analysis time period is set in the dynamic assembly state sequence, and the decrease in lifting tension and the increase in total support pressure are calculated within the load trend analysis time period.

[0051] The method for setting the load trend analysis time period in the dynamic assembly state sequence includes: setting the load trend analysis time period according to a preset sampling period.

[0052] The load trend analysis time period is set according to a fixed time length, for example, 0.5s to 3s.

[0053] For the nth sampling time, the segment from the (n-q)th sampling time to the nth sampling time is taken as the current load trend analysis time period, where q is the number of sampling intervals included within a fixed time length.

[0054] Among them, the decrease in spreader tension is the difference between the spreader tension at the beginning and the end of the load trend analysis period, and the increase in total bearing pressure is the difference between the total bearing pressure at the end and the total bearing pressure at the beginning of the load trend analysis period.

[0055] When the decrease in the spreader tension exceeds a preset tension decrease threshold, and the spreader tension shows a continuous downward trend during the load trend analysis period, the spreader tension is determined to have decreased effectively. The rule for determining a continuous downward trend is as follows: within the load trend analysis period, the difference in spreader tension between adjacent sampling times is calculated according to the sampling time sequence; when the number of sampling intervals with a positive difference in spreader tension between adjacent sampling times reaches a preset decrease number, the spreader tension is determined to show a continuous downward trend. The preset decrease number can be set according to the total number of sampling intervals within the load trend analysis period, preferably 70% to 80% of the total number of sampling intervals.

[0056] When the increase in total support pressure exceeds the preset support pressure increase threshold, and the total support pressure shows a continuous upward trend during the load trend analysis period, it is determined that the support mechanism has effectively established support.

[0057] The rule for determining a continuous upward trend is as follows: During the load trend analysis period, the total bearing pressure difference between adjacent sampling times is calculated according to the sampling time sequence. When the number of sampling intervals with a positive total bearing pressure difference between adjacent sampling times reaches a preset increase number, it is determined that the total bearing pressure is in a continuous upward trend. The preset decrease number can be set according to the total number of sampling intervals during the load trend analysis period, preferably 70% to 80% of the total number of sampling intervals.

[0058] It should be noted that the preset thresholds in the above analysis process were set by those skilled in the art based on actual conditions or obtained through large-scale data simulation.

[0059] When both the effective decrease of the spreader tension and the effective establishment of support by the supporting mechanism are met within the same load trend analysis time period, the load trend analysis time period is determined as a candidate segment for load path switching. The starting point of the first time period that meets the candidate segment judgment condition is determined as the start time of the load path switching window. After the start time, the spreader tension is monitored. When the spreader tension is zero, the corresponding time point is determined as the end time of the load path switching window, thus obtaining the load path switching window. Within the load path switching window, the support compensation module pauses the full insertion of the positioning pin and enters the attitude maintenance and support compensation judgment state.

[0060] In this embodiment, by analyzing the decrease in lifting force and the increase in total support pressure of the supporting mechanism, the load path switching window is identified, which can accurately capture the critical stage of the transfer of the force path of the precast slab from the lifting tool to the supporting mechanism. Pausing the complete insertion of the positioning pin within this window avoids forcibly inserting the pin while the precast slab is still experiencing force redistribution and slight drift, thereby reducing the risk of positioning hole compression, positioning pin jamming, and hole damage.

[0061] The hole alignment and locking module is used to record the spatial position of the precast slab reference point, the precast slab tilt angle, and the positioning hole deviation before the precast slab enters the load path switching window, and generate a hole alignment and locking reference. Within the load path switching window, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the current positioning hole deviation are compared with the hole alignment and locking reference to obtain the secondary drift amount of the precast slab. The secondary drift amount of the precast slab is used to determine whether to enter the attitude fine-tuning state. The secondary drift amount of the precast slab is used to characterize the degree of deviation of the completed hole alignment state during the load transfer process.

[0062] In some implementation methods, the implementation steps include: The sampling time before the start time of the load path switching window is taken as the hole alignment locking time, and the spatial position of the precast plate reference point in the unified assembly coordinate system is recorded as the spatial position locking value. The spatial location locking value is denoted as: P lock = (X lock Y lock Z lock ); Among them, X lock This indicates the locked coordinates of the precast slab reference point in the longitudinal direction of the channel, Y. lock Z represents the locked coordinates of the precast slab reference point in the transverse direction of the channel. lock This indicates the locked coordinates of the precast slab reference point in the vertical direction. This spatial position lock value is used to indicate the overall position state that the precast slab has reached before the load path switch.

[0063] At the moment of hole alignment and locking, the current tilt angle of the precast plate relative to the unified assembly coordinate system is recorded as the attitude locking value.

[0064] The attitude lock value is denoted as: A lock =( lock , lock , lock ); in, lock This indicates the locking tilt angle of the precast slab in the longitudinal direction around the channel. lock This indicates the locking tilt angle of the precast slab in the lateral direction around the channel. lock This indicates the locking deflection angle of the precast slab around the vertical direction; this attitude locking value is used to indicate the attitude state that the precast slab has reached before the load path switch.

[0065] At the moment of hole alignment and locking, the current positioning hole deviation of the precast slab is recorded as the positioning hole deviation locking value ΔH. lock The positioning hole deviation locking value is denoted as: ΔH lock =(ΔXH lock ΔYH lock ΔZH lock） ; where ΔXH lock ΔYH represents the locking deviation of the positioning hole in the longitudinal direction of the channel. lock ΔZH represents the locking deviation of the positioning hole in the transverse direction of the channel. lock This indicates the locking deviation of the positioning hole in the vertical direction.

[0066] The spatial position lock value, attitude lock value, and positioning hole deviation lock value are correlated and used as the hole alignment lock reference.

[0067] The method for calculating the secondary drift of the precast slab includes: Within the load path switching window, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the deviation of the positioning holes are continuously acquired at the current sampling time according to the preset sampling period.

[0068] For example, at the nth sampling time, the current state is denoted as: Bn={t n P n A n ΔH n}; Among them, t n P represents the current sampling time. n Indicates the spatial location of the precast slab reference point, A n Indicates the current tilt angle of the precast slab, ΔH n This indicates the current deviation of the positioning hole.

[0069] The spatial position of the precast slab reference point is compared with the spatial position lock value to obtain the spatial position drift.

[0070] Methods for obtaining spatial position drift include: If the spatial position of the precast slab reference point is: P n = (X n Y n Z n Then the spatial position drift is: ΔP n =P n -P lock That is: ΔX n =X n -X lock ;ΔY n =Y n -Y lock ;ΔZ n =Z n -Z lock。

[0071] Where, ΔX n ΔY represents the positional drift of the precast slab in the longitudinal direction of the channel. n ΔZ represents the positional drift of the precast slab in the transverse direction of the channel. n This indicates the vertical displacement of the precast slab.

[0072] The current tilt angle of the precast slab is compared with the attitude lock value to obtain the attitude drift.

[0073] Methods for obtaining attitude drift include: The current tilt angle of the precast slab is: The attitude drift is then: Δ =A n -A lock； That is: Δ = - lock ;Δ = - lock ;Δ = n - lock .

[0074] Where, Δ Δ represents the amount of tilting drift of the precast slab in the longitudinal direction around the channel. Δ represents the amount of tilting and drifting of the precast slab in the lateral direction around the channel. This indicates the amount of deflection and drift of the precast slab around the vertical direction.

[0075] The current positioning hole deviation is compared with the positioning hole deviation lock value to obtain the change in positioning hole deviation.

[0076] The method for obtaining the variation in the positioning hole deviation is as follows: The current positioning hole deviation is ΔH n The positioning hole deviation locking value is ΔH lock The change in the positioning hole deviation is: =ΔH n -ΔH lock ;in, This represents the change in the positioning hole deviation relative to the locking reference at the current sampling time. .

[0077] The acquired spatial position drift, attitude drift, and positioning hole deviation changes are normalized and then weighted and fused to obtain the precast slab secondary drift. This secondary drift characterizes the degree of deviation of the precast slab from its aligned hole position during load transfer.

[0078] Specifically, the calculation method for the secondary drift of the precast slab is as follows: D n =w1×|ΔP n | / P ref +w2×|ΔA n | / A ref +w3×|D H,n | / H ref ; Where D_n represents the secondary drift of the precast slab at the nth sampling time; |ΔP n |Indicates the magnitude of spatial position drift;|ΔA n | Indicates the magnitude of attitude drift; |D H,n | Indicates the magnitude of the change in the positioning hole deviation; Pref Indicates the preset position allowable deviation reference value; A ref H represents the preset allowable attitude deviation reference value; ref The preset positioning hole allowable deviation reference value is indicated; w1, w2, and w3 represent weighting coefficients, and w1 + w2 + w3 = 1.

[0079] It should be noted that the weighting coefficients and reference values ​​in the formula are set by those skilled in the art based on actual conditions or obtained through large-scale data simulation. Optionally, w1, w2, and w3 are taken as 0.3, 0.4, and 0.3, respectively. The weighting coefficients are set according to the degree of influence of spatial position drift, attitude drift, and positioning hole deviation changes on abnormal positioning pin insertion and hole alignment failure. Specifically, in the precast slab trial assembly or historical assembly data, the frequency of occurrence of increased positioning pin insertion force, excessive positioning hole deviation, or abnormal plate seam when the spatial position drift, attitude drift, and positioning hole deviation changes reach the corresponding reference values ​​is statistically analyzed. Drift components with higher frequency are assigned larger weights, and drift components with lower frequency are assigned smaller weights.

[0080] Methods for determining whether the precast slab has entered the attitude fine-tuning state based on its secondary drift include: The secondary drift amount D of the precast slab n Compare with the preset secondary drift threshold.

[0081] When D n If the value is less than or equal to the preset secondary drift threshold, the alignment of the precast panel is determined to be valid during the load path switching process, and assembly continues.

[0082] When D n When the value exceeds the preset secondary drift threshold, it is determined that the precast slab has experienced secondary drift during the load path switching process, and it enters the attitude fine-tuning state to adjust the support mechanism.

[0083] It should be noted that the preset secondary drift threshold is determined based on the statistical distribution of Dn in the normal assembly sample, and the mean of Dn in the normal sample is selected plus three times the standard deviation.

[0084] In this embodiment, a hole alignment locking reference is generated before the load path switching window begins. The spatial position of the precast slab reference point, the tilt angle of the precast slab, and the positioning hole deviation are recorded as the locked state. Within the load path switching window, the real-time collected spatial position, attitude, and positioning hole deviation are compared with the locking reference to obtain the secondary drift amount of the precast slab. This method can clearly distinguish between the initial assembly deviation of the precast slab and the secondary drift caused by load transfer, enabling the system to identify the hidden problem of offset after alignment, and improving the dynamic stability judgment ability of the assembly process.

[0085] The support compensation module is used to determine the sinking trend and support pressure increment of each support mechanism after the precast slab enters the attitude fine-tuning state, based on the spatial position drift, attitude drift, positioning hole deviation change and support pressure of the support mechanism, generate vertical compensation amount, and control the corresponding support mechanism to perform vertical fine-tuning compensation.

[0086] In some implementation methods, the implementation steps include: Read the spatial position drift, attitude drift, positioning hole deviation change, support pressure of each support mechanism, and installation position of each support mechanism at the current sampling time.

[0087] The spatial position drift is ΔP. n =(ΔX n ΔY n ΔZ n The attitude drift is The variation in the positioning hole deviation is D. H,n =(DX H,n DY H,n DZ H,n The installation location of the j-th support mechanism is... .

[0088] It should be noted that the method for obtaining the installation position of the support mechanism is as follows: after establishing a unified assembly coordinate system, a measurement mark point is set at the center of the support head of each support mechanism; a laser tracker is used to measure each measurement mark point to obtain the spatial coordinates of the support head center of each support mechanism within the unified assembly coordinate system, and the coordinates of the support head center of the j-th support mechanism are marked as: ; in, This represents the coordinates of the center of the j-th support head in the longitudinal direction of the channel. This represents the coordinates of the center of the j-th support head in the transverse direction of the channel. This represents the coordinates of the center of the support head of the j-th support mechanism in the vertical direction.

[0089] Spatial position locking value at the moment of hole alignment and locking As the baseline for attitude fine-tuning analysis, the planar relative coordinates of the j-th supporting mechanism with respect to the spatial position locking value are calculated: ; ; in, This represents the distance of the j-th supporting mechanism relative to the locking position of the precast slab in the longitudinal direction of the channel. This represents the distance of the j-th supporting mechanism relative to the locking position of the precast slab in the transverse direction of the channel.

[0090] The plane relative coordinates are used to convert the attitude drift of the precast slab into the vertical offset component of the corresponding support mechanism, thereby determining whether each support mechanism has a local subsidence trend.

[0091] Based on the vertical positional drift, attitude drift, and vertical deviation change of the positioning holes in the precast slab, calculate the equivalent vertical offset of the j-th support mechanism: ; in, This represents the equivalent vertical offset of the j-th supporting mechanism at the n-th sampling time; This indicates the vertical displacement of the precast slab. This indicates the amount of tilting and drifting of the precast slab in the longitudinal direction around the channel; This indicates the amount of tilting and drift of the precast slab in the lateral direction around the channel; η represents the change in vertical deviation of the positioning hole; η represents the proportional coefficient by which the vertical deviation of the positioning hole participates in the support compensation calculation.

[0092] It should be noted that the attitude drift amount is expressed in radians when included in the above calculations. When the value is negative, it indicates that the j-th support mechanism has a downward offset tendency relative to the hole alignment and locking state.

[0093] Based on the equivalent vertical offset Calculate the subsidence trend of the j-th supporting structure: The calculation formula is as follows: ;in, This represents the downward trend of the j-th supporting structure. When... When it is negative, Take its absolute value; when When it is zero or a positive value, Zeroing out the values. This transforms the overall vertical drift, tilt, and vertical deviation of the positioning holes of the precast slab into a unified trend of localized subsidence in each supporting mechanism.

[0094] The support pressure of the j-th support mechanism at the moment of hole alignment and locking. And calculate the increase in support pressure of the j-th supporting mechanism at the n-th sampling time; the calculation formula is: ;in, This represents the actual increase in support pressure of the j-th supporting mechanism during the load path switching process. This represents the supporting pressure of the j-th supporting mechanism at the nth sampling time.

[0095] Based on the preset load distribution coefficients of each support mechanism, the load distribution coefficient of the j-th support mechanism is obtained. It should be noted that the load distribution coefficient is obtained based on the design load capacity of each support mechanism or the proportion of support pressure at the locking moment.

[0096] The obtained subsidence trend, support pressure increment, and bearing capacity distribution coefficient are input into the pre-built vertical compensation prediction module, which outputs the vertical compensation amount. The support compensation module then sends the vertical compensation amount to the corresponding support mechanism, causing the support mechanism to make a slight upward adjustment in the vertical direction.

[0097] The training method for the vertical compensation prediction module includes the following.

[0098] A gradient boosting regression tree was selected to construct a vertical compensation prediction module. With the subsidence trend, support pressure increment, and load distribution coefficient as inputs, the vertical compensation was accurately predicted, providing a basis for fine-tuning of the vertical direction of the support mechanism.

[0099] Before training the model, initialize it and set the initial hyperparameters: set the number of decision trees to 100-150, the maximum depth of a single tree to 4-6, the minimum number of samples for node splitting to 8-12, the maximum number of features considered during splitting to 3, the learning rate to 0.05-0.1, and the regularization coefficient L2 to 0.1-0.2.

[0100] The model training uses mean squared error as the loss function to measure the deviation between the vertical compensation amount predicted by the model and the vertical compensation amount calibrated in the actual project.

[0101] Pre-collected training data for different working conditions were used. The samples included subsidence trend, bearing pressure increment, load distribution coefficient, and the true values ​​of the corresponding vertical compensation measured and calibrated on-site. The subsidence trend, bearing pressure increment, and load distribution coefficient were used as input features to the model, with the actual vertical compensation as the regression prediction target. The model was trained using the training set. For each new decision tree, the regression residual of the loss function fitted to the training set was used as the target. The optimal splitting feature was selected based on the mean squared error criterion, and samples were assigned to corresponding child nodes. During training, tree growth was stopped when the preset maximum tree depth was reached and the number of samples in the child node was less than the minimum number of split samples.

[0102] The gradient descent method is used to optimize the weights of the leaf nodes of each decision tree. The learning rate is used to constrain the contribution ratio of a single tree to the final prediction result, preventing a single decision tree from dominating the output result and ensuring the stability and reliability of the vertical compensation prediction under different working conditions.

[0103] A Bayesian optimization method is used to find the optimal combination of hyperparameters within a preset interval, with the optimization objective being to minimize the root mean square error of the validation set. The hyperparameter optimization range is set as follows: 80-180 decision trees, maximum depth of a single tree 3-7, learning rate 0.03-0.12, and regularization coefficient L2 ranging from 0.05-0.25.

[0104] All training samples were divided into training, validation, and test sets in a 7:2:1 ratio. An early stopping mechanism was introduced during training: 20 trees were trained each iteration, and the root mean square error (RMSE) of the validation set was calculated. Training was terminated when the RMSSE of the validation set decreased by less than 0.001 after three consecutive iterations (60 trees). This effectively avoided overfitting. After training, the model parameters corresponding to the optimal RMSSE of the validation set were saved, including all decision tree splitting rules and leaf node weights, ensuring the model had stable vertical compensation prediction capabilities for various subsidence trends, support pressures, and load distribution conditions.

[0105] After model training, performance is evaluated using an independent test set, and the root mean square error, mean absolute error, and coefficient of determination are calculated. When the root mean square error of the test set does not exceed 3% of the vertical compensation amount, the mean absolute error does not exceed 2% of the vertical compensation amount, and the coefficient of determination is not lower than 0.95, the model performance is deemed satisfactory and can be deployed as a vertical compensation prediction module. This module takes into account the subsidence trend, the increase in support pressure, and the load distribution coefficient in real time, outputs the vertical compensation amount, and sends it to the support mechanism to complete the vertical fine-tuning control.

[0106] In this embodiment, after entering the attitude fine-tuning state, the sinking trend and support pressure increment of each support mechanism are determined by combining the spatial position drift, attitude drift, positioning hole deviation change, support pressure of the support mechanism, and installation position of the support mechanism, and a vertical compensation amount is generated accordingly. This compensation method is not a simple overall lifting and lowering of the precast slab, but rather a zoned fine-tuning of the local sinking trend of different support mechanisms. This can reduce the tilting of the slab and the re-offset of the hole position caused by insufficient local support, and improve the final positioning accuracy of the precast slab.

[0107] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of this application as claimed. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A smart mechanically driven precast slab precision positioning and assembly system, characterized in that, include: The spatial reference construction module is used to establish a unified assembly coordinate system and construct prefabricated slab assembly spatial reference parameters based on the unified assembly coordinate system. The dynamic status acquisition module is used to synchronously acquire assembly parameters when the prefabricated slab to be installed enters the preset proximity range of the target installation position, calculate the positioning hole deviation in conjunction with the prefabricated slab assembly space reference parameters, and construct a dynamic assembly status sequence according to the preset sampling time sequence. The switching window recognition module identifies the load path switching window based on the dynamic assembly state sequence; The hole alignment and locking module is used to generate a hole alignment and locking reference before the precast slab enters the load path switching window. Within the load path switching window, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the current positioning hole deviation are compared with the hole alignment and locking reference, respectively. The secondary drift of the precast slab is calculated, and the attitude fine-tuning state is determined based on the secondary drift of the precast slab. The method for calculating the secondary drift of the precast slab includes: Within the load path switching window, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the deviation of the positioning holes are continuously acquired according to the preset sampling period at the current sampling time. The spatial position of the precast slab reference point is compared with the spatial position lock value to obtain the spatial position drift. The current tilt angle of the precast slab is compared with the attitude lock value to obtain the attitude drift amount; Compare the current positioning hole deviation with the positioning hole deviation lock value to obtain the change in positioning hole deviation. After normalizing the obtained spatial position drift, attitude drift, and positioning hole deviation, a weighted fusion was performed to obtain the secondary drift of the precast slab. The support compensation module is used to determine the sinking trend and support pressure increment of each support mechanism after the precast slab enters the attitude fine-tuning state, based on the spatial position drift, attitude drift, positioning hole deviation change and support pressure of the support mechanism, generate vertical compensation amount, and control the corresponding support mechanism to perform vertical fine-tuning compensation. The method for obtaining the downward trend amount includes: Read the spatial position drift, attitude drift, positioning hole deviation change, support pressure of each support mechanism, and installation position of each support mechanism at the current sampling time; Using the spatial position locking value at the moment of hole alignment and locking as the reference for attitude fine-tuning analysis, calculate the planar relative coordinates of the j-th support mechanism relative to the spatial position locking value; Based on the vertical position drift, attitude drift, and vertical deviation change of the positioning holes in the precast slab, the equivalent vertical offset of the j-th support mechanism is calculated. Based on the equivalent vertical offset Calculate the subsidence trend of the j-th supporting structure; The method for generating vertical compensation includes: inputting the acquired subsidence trend, support pressure increment, and bearing distribution coefficient into a pre-built vertical compensation prediction module, outputting the vertical compensation, and the support compensation module sending the vertical compensation to the corresponding support mechanism, so that the corresponding support mechanism can be finely adjusted upward in the vertical direction.

2. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 1, characterized in that, The precast slab assembly space reference parameters include the target installation reference point P0 and the target positioning hole position H. i Installation location of the support mechanism C j and the physical coordinates M of the visual marker point k ; The method for obtaining the target installation reference point includes: Based on the design and installation data of the precast slab to be installed, a target installation reference point is determined in the unified assembly coordinate system. The target installation reference point is the preset position point that the precast slab should reach after installation, and the target installation reference point is the geometric center point of the precast slab.

3. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 2, characterized in that, The method for obtaining the position of the target positioning hole includes: A coordinate system for the precast slab body is constructed with the geometric center point of the precast slab as the origin, the length direction of the precast slab as the u-axis, the width direction of the precast slab as the v-axis, and the thickness direction of the precast slab as the w-axis. Based on the precast slab design drawings, obtain the fixed coordinates of the center point of each positioning hole relative to the coordinate system of the precast slab body; Based on the target installation reference point and the design installation posture of the precast slab, the body coordinates of the center point of the positioning hole are converted into the target positioning hole position under a unified assembly coordinate system.

4. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 2, characterized in that, The visual marker point's body coordinates M k The methods for obtaining it include: At least three non-collinear visual markers are set on the precast slab to be installed, and the fixed coordinates of each visual marker in the precast slab's body coordinate system are measured in advance. The body coordinates of the k-th visual marker are denoted as M. k =(u k v k w k ), where M k This represents the fixed position of the k-th visual marker point relative to the coordinate system of the precast slab body.

5. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 2, characterized in that, The assembly parameters include the lifting force, the supporting pressure of the support mechanism, and the current tilt angle of the precast slab; The method for obtaining the current tilt angle of the precast slab includes: acquiring the real-time spatial coordinates of the k-th visual marker point at the n-th sampling time, denoted as M. k,n′ Compared with the pre-acquired visual marker point body coordinates M k Calculate the rigid body transformation relationship from the precast slab body coordinate system to the unified assembly coordinate system at the nth sampling time: P′=R n ·P+T n Among them, R n T represents the rotation matrix corresponding to the precast slab's attitude at the nth sampling time. n Let P represent the translation vector corresponding to the spatial position of the precast slab at the nth sampling time, P represent the coordinates of any point in the precast slab body coordinate system, and P′ represent the coordinates of that point after being transformed to the unified assembly coordinate system. Based on the rotation matrix R at the nth sampling time n Extract the current tilt angle of the precast slab.

6. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 5, characterized in that, The method for obtaining the positioning hole deviation includes: Based on the rigid body transformation relationship from the precast slab body coordinate system to the unified assembly coordinate system at the nth sampling time, the center point Q of the i-th positioning hole in the precast slab body coordinate system is... i Transform to a unified assembly coordinate system to obtain the actual spatial position H of the center point of the i-th positioning hole at the n-th sampling time. i,n′ ; The actual spatial position H of the center point of the positioning hole i,n′ Position H of the target positioning hole i By comparison, the positioning hole deviation ΔH of the i-th positioning hole at the n-th sampling time is obtained. n。 7. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 6, characterized in that, The method for constructing a dynamic assembly state sequence includes: At the nth sampling time, the lifting tension, the supporting pressure of the support mechanism, the spatial position of the precast slab reference point, the current tilt angle of the precast slab, and the deviation of the positioning hole are combined into a single frame of dynamic assembly status data. Multiple single-frame dynamic assembly state data obtained by continuous sampling are arranged in chronological order to form a dynamic assembly state sequence.

8. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 7, characterized in that, The method for identifying the payload path switching window includes: Set a load trend analysis time period in the dynamic assembly state sequence, and calculate the decrease in lifting force and the increase in total support pressure within the load trend analysis time period; When both the effective decrease of the spreader tension and the effective establishment of support by the supporting mechanism are met within the same load trend analysis time period, the load trend analysis time period is determined as a candidate segment for load path switching. The starting point of the first time period that meets the candidate segment determination criteria is determined as the start time of the load path switching window. After the start time, the spreader tension is monitored. When the spreader tension is zero, the corresponding time point is determined as the end time of the load path switching window, thus obtaining the load path switching window.

9. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 8, characterized in that, The method for determining the effective decrease of the spreader tension and the effective establishment of support by the supporting mechanism is as follows: when the decrease in the spreader tension is greater than the preset tension decrease threshold, and the spreader tension shows a continuous downward trend during the load trend analysis period, the spreader tension is determined to have decreased effectively. When the increase in total support pressure exceeds the preset support pressure increase threshold, and the total support pressure shows a continuous upward trend during the load trend analysis period, it is determined that the support mechanism has effectively established support.

10. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 1, characterized in that, The method for generating the hole alignment and locking reference includes: The sampling time before the start time of the load path switching window is taken as the hole alignment locking time, and the spatial position of the precast plate reference point in the unified assembly coordinate system is recorded as the spatial position locking value. At the moment of hole alignment and locking, record the current tilt angle of the precast plate relative to the unified assembly coordinate system as the attitude locking value; At the moment of hole alignment and locking, the current positioning hole deviation of the precast slab is recorded as the positioning hole deviation locking value ΔH. lock ; The spatial position lock value, attitude lock value, and positioning hole deviation lock value are correlated and used as the hole alignment lock reference.

11. The intelligent mechanically driven precast slab precision positioning and assembly system according to claim 1, characterized in that, The method for determining whether to enter the attitude fine-tuning state based on the secondary drift amount of the precast slab includes: The secondary drift amount D of the precast slab n Compare with the preset secondary drift threshold; When D n If the value is less than or equal to the preset secondary drift threshold, the alignment status of the precast panel is determined to be valid during the load path switching process, and then the assembly continues. When D n When the value exceeds the preset secondary drift threshold, it is determined that the precast slab has experienced secondary drift during the load path switching process, and it enters the attitude fine-tuning state to adjust the support mechanism.

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