Feature typing based tilt curtain wall panel adaptive installation and stress control method

Abstract

This invention discloses an adaptive installation and stress control method for inclined curtain wall panels based on feature classification. The method includes: extracting the boundary features and centroid coordinates of the inclined facade curtain wall panels for classification, and allocating target installation surface parameters and preset installation benchmarks based on the classification results; suspending the panels using lifting equipment, receiving real-time tilt angle data, and adjusting the tension of the lifting equipment to match the panel posture with the target installation surface parameters; controlling the movement of the panels towards the main structure, causing the main control corners to contact the alignment benchmarks to form temporary hinges, and guiding the remaining corners to converge into position; installing temporary limiting steel components and transferring the gravity load onto them to establish a static force system; performing fastening operations according to the anti-disturbance locking sequence, and then releasing the temporary constraints to fix the panels to the main structure; finally, collecting edge node coordinates, extracting joint width values ​​and facade coplanarity data to determine the completion conditions of the process. This invention improves alignment accuracy and ensures the stability of panel consolidation and the quality of facade construction.

Description

Technical Field

[0001] This invention relates to the field of curtain wall engineering construction technology, specifically to an adaptive installation and stress control method for inclined curtain wall panels based on feature classification. Background Technology

[0002] The design and application of inclined facade curtain walls are increasingly common in building construction. Compared to vertical facade curtain walls, the panels of inclined facade curtain walls need to maintain a specific tilt angle during installation. Furthermore, due to differences in shape design, the actual center of gravity of some irregularly shaped or deformed panels often deviates from their geometric center, posing challenges to on-site hoisting, positioning, and installation. Currently, during the construction of inclined curtain wall panels, conventional lifting equipment is typically used to lift the panels to the vicinity of the target area. Then, construction workers use chain hoists, traction ropes, and other auxiliary tools to manually pull and adjust the tilt angle and spatial posture of the panels in mid-air.

[0003] This method of operation, relying on manual experience, struggles to accurately control the surface tilt angle of large, heavy, and inclined panels in three-dimensional space. As the panels approach and align with the main structure, they are prone to rigid collisions and spatial interference with the main structure or adjacent panels due to posture deviations. Furthermore, during the initial contact and temporary fixing of the panels with the installation surface, the lack of real-time monitoring of the dynamic stress state makes it difficult to quantify and control the torque changes as the gravity load is transferred from the lifting cables to the temporary supports, easily leading to localized deflection or even instability risks. In addition, traditional construction methods often lack a systematic tightening sequence plan when performing the final fastening of connectors; workers tend to tighten randomly according to convenient locations. This disordered tightening leads to residual stress concentration at the connection nodes. When the constraints of temporary supports and lifting equipment are finally released, the release of local deformation stress causes slight displacement and rebound of the curtain wall panels, directly resulting in inconsistent joint widths between adjacent panels and excessive facade smoothness, failing to meet the quality acceptance standards for high-precision curtain walls. Summary of the Invention

[0004] In view of the technical defects and drawbacks existing in the prior art, the embodiments of the present invention provide an adaptive installation and stress control method for inclined curtain wall panels based on feature classification to overcome the above problems or at least partially solve the above problems. The specific solution is as follows;

[0005] An adaptive installation and stress control method for inclined curtain wall panels based on feature classification includes the following steps:

[0006] Extract the boundary features and centroid coordinates of the inclined facade curtain wall panels for classification, and assign target installation surface parameters and preset installation references to the target installation area based on the classification results;

[0007] The inclined facade curtain wall panel is lifted and suspended in the air by a lifting device. Real-time tilt angle data is received from the spatial posture measuring instrument. The tension of each lifting point of the adjustable lifting device is adjusted so that the current attitude angle deviation between the self-surface normal vector of the inclined facade curtain wall panel and the target surface normal vector corresponding to the target installation surface parameter is less than or equal to the angle tolerance threshold.

[0008] Control the inclined facade curtain wall panel to move towards the main structure, so that the main control corner of the inclined facade curtain wall panel contacts the alignment reference point corresponding to the preset installation reference, forming a temporary hinge, and guide the other corners to converge based on the temporary hinge, until the entire inclined facade curtain wall panel reaches the preset coordinate range limited by the upper limit of the position tolerance.

[0009] After the inclined facade curtain wall panel reaches the preset coordinate range, a temporary limiting steel component is installed, and the gravity load of the inclined facade curtain wall panel is transferred to the temporary limiting steel component to establish a static force system.

[0010] While maintaining the static load-bearing system, the fastening operation of the connectors is performed according to the anti-disturbance locking sequence, and after the fastening is completed, the structural constraints of the temporary limiting steel member are released, and the inclined facade curtain wall panel is fixed to the main structure.

[0011] The spatial pose measuring instrument collects the edge node coordinates of adjacent inclined facade curtain wall panels, extracts the joint width value and facade coplanarity data, and compares them with the preset acceptance tolerance threshold to determine the completion conditions of the process.

[0012] In some embodiments, the step of extracting the boundary features and centroid coordinates of the inclined facade curtain wall panels for classification includes:

[0013] Read the previous detailed design model data to obtain a model file containing building information model data files, computer-aided design 3D model files, and 3D mesh data sets. Extract the top edge length, bottom edge length, side edge length, and preset installation corner point feature data of the inclined facade curtain wall panel as basic boundary geometric information, and extract the theoretical centroid coordinate P of the inclined facade curtain wall panel. c ;

[0014] Based on the basic boundary geometry information, the minimum three-dimensional bounding box of the inclined facade curtain wall panel is established, and the theoretical geometric center coordinates P are extracted. geo By comparing the spatial deviation between the theoretical centroid coordinates and the theoretical geometric center coordinates, a centroid offset characteristic value η is generated, calculated using the following formula:

[0015]

[0016] Among them, Ldiag The diagonal length of the minimum three-dimensional bounding box;

[0017] Define key control corners within the target installation area. Based on the spatial coordinates of these key control corners, use the least squares method to fit and generate a theoretical reference plane. Then, obtain the maximum distance Δh between the spatial coordinates of the key control corners and the theoretical reference plane. max Based on this, the flatness characteristic value ρ is generated, and the calculation formula is as follows:

[0018]

[0019] The flatness feature value ρ is compared with the preset flatness threshold ρ. th The comparison is performed, and the center of gravity offset feature value η is compared with the preset center of gravity offset threshold η. th Perform a comparison;

[0020] When ρ≤ρ th η≤η th Furthermore, when the number of key control corners K=4, the inclined facade curtain wall panels are classified into the standard panel set E. std ;

[0021] When ρ>ρ th η≤η th Furthermore, when the number of key control corners K=4, the inclined facade curtain wall panels are classified into the deformable panel set E. def ;

[0022] When η>η th If the number of key control corners K≠4, the inclined facade curtain wall panel is classified into the irregular panel set E. spc .

[0023] In some embodiments, the step of assigning target mounting surface parameters to a preset mounting reference includes:

[0024] Extract the 3D mesh data of the target installation interface, and define the target surface normal vector corresponding to the target installation interface in the global construction coordinate system. , as the target mounting surface parameter;

[0025] Define key control corners in the target installation area, and extract the target reference coordinates corresponding to the key control corners as the preset installation reference.

[0026] For those classified into the standard plate set E std The inclined facade curtain wall panel assigns the preset installation reference to the four corner points and calls the target installation surface parameters to generate a reference strategy for synchronous spatial alignment of the four corners;

[0027] For those classified into the deformable plate set E def The inclined facade curtain wall panel assigns the preset installation reference to the top edge node and calls the target installation surface parameters to generate a reference strategy in which the top edge makes priority contact and applies normal thrust to close the bottom edge.

[0028] For those classified into the irregular plate set E spc The inclined facade curtain wall panel calls the target mounting surface parameters to generate an alignment benchmark strategy that uses the center of gravity normal as the rotation axis and assigns weights according to the reciprocal of the distance from each corner to the center of gravity normal.

[0029] In some embodiments, before suspending the inclined facade curtain wall panel by means of a lifting device, the following steps are further included:

[0030] Extract the node center coordinates P of the formal connection nodes on the main structure. conn,l , where l is the index of the formally connected node;

[0031] Based on the node center coordinates and the maximum outer dimensions of the corresponding formal connecting components, anti-interference bounding sphere data is generated with the node center coordinates as the center to define the installation space of the formal connecting components.

[0032] Preliminary installation coordinates P for the temporary support stress points are initially assigned within the target installation plane. lim,j , where j is the index of the temporary support stress point, and the preset installation coordinates of the temporary support stress point are the preset installation coordinates of the temporary limiting steel component to be installed;

[0033] To avoid interference between the temporary support stress point and the installation work space, the preset installation coordinates and the node center coordinates are checked using spatial Euclidean distance, and the distance data Δd is calculated. jl The calculation formula is:

[0034]

[0035] The distance data Δd jl With respect to the preset spatial anti-interference safety distance threshold D safe A comparison is made to determine whether the space avoidance conditions are met;

[0036] When any Δd exists jl <D safe When spatial interference is detected, the tangential direction of the target mounting plane at the current position is extracted, and the preset mounting coordinates P are controlled. lim,j The system moves along the tangential direction with a preset translation step size Δs, and iteratively updates the coordinate data until all temporary support stress points satisfy Δd. jl ≥Dsafe Based on the spatial avoidance conditions, the final preset installation coordinates are locked.

[0037] In some embodiments, the step of adjusting the tension of each lifting point of the adjustable hanger to match the orientation of the inclined facade curtain wall panel with the target mounting surface parameters includes:

[0038] Obtain the target surface normal vector based on the target mounting surface parameters. Based on the real-time tilt angle data fed back by the spatial pose measuring instrument, the self-surface normal vector of the tilted facade curtain wall panel is updated. ;

[0039] Calculate the normal vector of the self-face. With the target surface normal vector The spatial angle between them, as the current attitude angle deviation Δθ, is calculated using the following formula:

[0040]

[0041] With the adjustable lifting device's suspension length l i As an independent control variable, based on the rigid body space rotation constraint relationship, the length adjustment variable Δl corresponding to each suspension point is solved to make the current attitude angle deviation Δθ approach zero. i And based on the mechanical transmission ratio of the internal transmission mechanism of the adjustable lifting device, the length adjustment variable Δl is adjusted. i This is converted into the angular displacement control signal of the lower-level drive motor, where i is the lifting point index;

[0042] The adjustable hoist outputs a mechanical action command containing the angular displacement control signal, driving the corresponding ropes to perform retraction and extension actions to change the tension at each hoisting point. This causes the inclined facade curtain wall panel to revolve around its theoretical center of gravity P under the combined action of a redistributed traction field and a constant gravity field. c Spatial rotation;

[0043] During the spatial rotation process, the spatial coordinates of the inclined facade curtain wall panel are continuously acquired at a preset sampling frequency, and the current attitude angle deviation Δθ is updated in real time. Within a time window containing a preset number of continuous sampling periods, a set of continuous deviation sequence data is recorded, and the attitude fluctuation characteristic value δθ is calculated. The calculation formula is as follows:

[0044]

[0045] Where, Δθ max and Δθ min These are the maximum and minimum values ​​of the current attitude angle deviation within the time window, respectively.

[0046] When |Δθ|≤θ th And δθ≤δ th At that time, a locking control signal is output, triggering the rigid constraint of the lower mechanism inside the adjustable lifting device, thus locking the current suspension length l. i And determine that the posture of the inclined facade curtain wall panel matches the target mounting surface parameters, where θ th δ is the preset angle tolerance threshold. th This is the preset fluctuation tolerance threshold.

[0047] In some embodiments, the step of controlling the inclined facade curtain wall panel to move toward the main structure, so that the main control corner of the inclined facade curtain wall panel contacts the alignment reference point corresponding to the preset installation reference, includes:

[0048] Based on the allocated preset installation benchmark, the target corner to be prioritized for positioning is determined as the main control corner, the real-time spatial coordinates of the main control corner are obtained, and the coordinates of the corresponding target node on the main structure are extracted as the alignment benchmark point.

[0049] Based on the spatial position difference between the real-time spatial coordinates and the alignment reference point, a positioning guidance direction vector pointing towards the main structure is generated. And calculate the current remaining approximation distance D between the main control corner and the alignment reference point. rem ;

[0050] Based on the current remaining approximation distance D rem Establish a segmented speed control function to output the real-time drive speed command v. cmd The segmented speed control function is:

[0051]

[0052] Among them, v max D represents the maximum permissible translational speed of the lifting equipment. buf The preset deceleration buffer distance, This is the preset upper limit of the position tolerance;

[0053] The drive speed command v cmd With the positioning guide direction vector The velocity vector is synthesized into a three-dimensional velocity vector and decomposed into the underlying control signal of the lifting equipment, which drives the inclined facade curtain wall panel to move towards the main structure along the positioning guide direction vector;

[0054] During the movement toward the main structure, the three-dimensional contact force vector of the contact sensing component located at the main control corner is collected in real time at a preset sampling frequency. And extract the normal vector of the target surface. Calculate the normal contact force F norm The calculation formula is:

[0055]

[0056] When the normal contact component F norm Greater than or equal to the preset initial contact force threshold F th When the main control corner has reached and contacted the alignment reference point, a stop approach command is output to the lifting equipment to complete the current physical contact action.

[0057] In some embodiments, the step of guiding the remaining corners to converge until a preset coordinate interval is reached includes:

[0058] After the main control corner and the alignment reference point make physical contact, the contact position between the main control corner and the alignment reference point is set as a temporary hinge reference point. By outputting a local locking command to the temporary limiting steel member arranged at the corner, the translational degree of freedom of the inclined facade curtain wall panel at the contact position is constrained, while its rotational degree of freedom is preserved.

[0059] Extract the three-dimensional coordinates of the unaligned corners on the inclined facade curtain wall panels;

[0060] Output coordinated control commands to the adjustable hoist, keep the length of the slings on the side closer to the temporary hinge reference point unchanged, and simultaneously increase the suspension length of the slings on the side farther away, guide the inclined facade curtain wall panel to rotate around the temporary hinge reference point under the action of gravity, drive the unaligned corner to converge along the target direction until it reaches the preset coordinate range limited by the position tolerance upper limit;

[0061] During the convergence process of the non-aligned corner, the normal contact force at all formal connection nodes is collected in real time at a preset sampling frequency. When the normal contact force at all formal connection nodes is greater than or equal to the preset initial contact force threshold F, the convergence process is complete. th When the inclined facade curtain wall panel is determined to be in place, a stop adjustment command is sent to the adjustable hoist to interrupt the release or rotation adjustment of the rope length and complete the position alignment.

[0062] In some embodiments, the step of installing a temporary limiting steel component after reaching the preset coordinate range and transferring the gravity load to the temporary limiting steel component to establish a static force system includes:

[0063] After the inclined facade curtain wall panel reaches the preset coordinate range, the installation node coordinate P is... lim,jInsert the temporary limiting steel member and apply a tension force to the temporary limiting steel member to a preset initial preload threshold to eliminate mechanical connection gaps, where j is the index of the temporary limiting steel member and M is the total number of temporary limiting steel members;

[0064] Output gradient slack command to the lifting equipment and the adjustable spreader, control the main hoisting winch to release the sling at a preset low speed at a uniform speed, and control the adjustable spreader to increase the suspension length synchronously.

[0065] As the tension of the slings decreases, the gravitational load of the inclined facade curtain wall panel is gradually transferred to the temporary limiting steel member. The real-time pull-out force F at the temporary limiting steel member is collected in real time at a preset sampling frequency. real,j And the tension of the slings on the built-in force gauge of the lifting equipment, and calculate the current real-time anti-overturning moment M. current The calculation formula is:

[0066]

[0067] Among them, h j Let P be the coordinates of the installation node of the j-th temporary limiting steel component. lim,j The vertical force arm of the assumed overturning rotation axis;

[0068] The current real-time anti-overturning moment M current With gravity overturning moment M over Compare the results when |M current- M over ∣< Furthermore, when the tension of the sling drops below the pre-decoupling threshold obtained from the system database, a decoupling command is sent to the adjustable lifting device, controlling its lower actuator to disconnect the mechanical shackles connected to the inclined facade curtain wall panel, completing the transfer of the gravity load and establishing the static force system independently supported by the temporary limiting steel component, wherein... This is the preset torque balance tolerance.

[0069] In some embodiments, the steps of performing connector fastening operations while maintaining the static load-bearing system, releasing the structural constraints of the temporary limiting steel members, and fixing the inclined facade curtain wall panels to the main structure include:

[0070] While maintaining the static load-bearing system, extract the theoretical target coordinates P of the formal connection node between the inclined facade curtain wall panel and the main structure. target,l And read the theoretical centroid coordinates P of the inclined facade curtain wall panel from the preset panel attribute database. c , where l is the index of the formal connected node, and the total number of formal connected nodes is L;

[0071] Calculate the node topology center distance D of each of the formally connected nodes. topo,l The calculation formula is:

[0072]

[0073] The distance D between the node topology centers of all the formally connected nodes topo,l Arrange them in ascending order from smallest to largest to generate an anti-disturbance locking sequence Ψlock;

[0074] According to the aforementioned anti-disturbance locking sequence Ψ lock The sorting results are sent to the working equipment level by level via the field communication bus to execute the fastening operation of the connecting parts at the corresponding nodes;

[0075] During the fastening operation, the spatial position measuring instrument scans the real-time spatial coordinates P of the nodes that have not yet been fastened. rt,q And extract the static spatial coordinates P of the uninterrupted state recorded after decoupling from the system's historical pose cache. static,q Calculate the dynamic disturbance deviation ΔP dyn,q The calculation formula is:

[0076]

[0077] Where q is the index of the unfixed node;

[0078] The dynamic disturbance deviation ΔP dyn,q Compared with the preset dynamic disturbance tolerance threshold read from the system parameter library Perform real-time comparison, when ΔP dyn,q > When the operation is stopped, a work stop command is sent to the working equipment to suspend the current welding or pre-tightening action and wait for the local deformation stress to be released until the dynamic disturbance deviation ΔP is reached. dyn,q ≤ At that time, a resumption operation instruction was issued;

[0079] When the anti-disturbance locking sequence Ψ lock The permanent connection operation is considered complete when all the formal connection nodes included in the process have returned a completion signal.

[0080] An unlocking and retraction command is issued to the temporary limiting steel component, controlling the electromagnetic pin inside to be de-energized and pulled out, and the servo motor in the nut screw adjustment mechanism to reverse and drive the screw to retract, thereby releasing the structural constraint of the temporary limiting steel component and fixing the inclined facade curtain wall panel to the main structure.

[0081] In some embodiments, the step of extracting the seam width value and facade coplanarity data to determine the completion condition of the process includes:

[0082] The spatial pose measuring instrument is invoked to scan the surrounding seam area to obtain the actual seam width W of the u-th edge feature point. real,u ;

[0083] Read the theoretical standard seam width W from the preset plate attribute database. std Calculate the seam width deviation W between the actual seam width and the theoretical standard seam width. err,u The calculation formula for the seam width value is as follows:

[0084]

[0085] Obtain the surface three-dimensional coordinates P of the edge feature points. surf,u and the corresponding surface coordinates P of the adjacent plate adj,u The design normal vectors of the inclined facade curtain wall panels are extracted from the three-dimensional environment model data. Calculate the ride comfort deviation H dev,u The coplanarity data of the facade is calculated using the following formula:

[0086]

[0087] Read the joint tolerance threshold from the preset engineering acceptance standard library. Smoothness tolerance threshold The seam width deviation W err,u The smoothness deviation H is compared with the seam tolerance threshold and the smoothness deviation H is calculated accordingly. dev,u Compare with the smoothness tolerance threshold;

[0088] When the slit width deviation W corresponding to all edge feature points err,u ≤ And the smoothness deviation H corresponding to all edge feature points dev,u ≤ At that time, it is determined that the appearance and line shape verification has passed, and the completion condition of the process has been met;

[0089] After the process completion conditions are met, the seam width deviation W is... err,u With the smoothness deviation H dev,u The updated closed-loop review file is attached to the data fingerprint, and a feature digest is calculated using a hash algorithm. The data fingerprint is then added with the current system timestamp and uploaded to the main server of the Building Information Modeling (BIM) database for archiving.

[0090] The present invention has the following beneficial effects:

[0091] 1. This invention extracts the boundary features and center-of-gravity coordinates of the inclined facade curtain wall panels for feature classification, matches the corresponding benchmark strategy, and calculates the attitude angle deviation based on real-time tilt angle data and the target surface normal vector. This drives the adjustable hoist to adjust the tension of each hoisting point, and can output corresponding suspension length adjustment parameters for panels with different gravity distributions such as standard, deformed, and irregular shapes. This allows the panels to directly rotate and align with the tilt angle of the target installation plane while suspended, reducing the need for repeated manual trial hoisting and adjustment in traditional construction operations, and improving the accuracy and efficiency of panel posture positioning.

[0092] 2. In the process of controlling the panel to move towards the main structure, the present invention establishes a segmented speed control function based on the remaining approximation distance, and sets the main control corner as a temporary hinged reference point after it contacts the alignment reference point. By adjusting the slings to guide the convergence of the remaining corners, this method of combining motion control with multi-point contact force monitoring avoids direct rigid collision impact between the heavy curtain wall panel and the main structure, realizes the smooth approximation and error elimination of the panel in three-dimensional space, and reduces the interference risk during spatial tilt alignment.

[0093] 3. This invention installs temporary limiting steel components after the panels reach the preset interval, monitors the force balance state during the gravity load transfer process using real-time calculated anti-overturning moment, and generates an anti-disturbance locking sequence according to the node topology center distance during the fastening operation stage. Combined with real-time scanning and comparison of dynamic disturbance deviation, this construction method can control the local deformation generated when multiple connectors are fastened sequentially, avoid residual stress concentration caused by disordered fastening, ensure the stability of the force system during the transition of the panels from temporary support to permanent consolidation, and thus ensure the final joint quality and facade smoothness of the curtain wall. Attached Figure Description

[0094] Figure 1 A flowchart illustrating the adaptive installation and stress control method for tilted curtain wall panels based on feature classification, provided in an embodiment of the present invention.

[0095] Figure 2 The following is a comparison chart of construction efficiency and safety provided in the embodiments of the present invention. Sub-chart (a) is a comparison chart of the average installation time of a single panel, and sub-chart (b) is a comparison chart of the cumulative number of positioning interferences and collisions.

[0096] Figure 3 The above are comparison diagrams of facade forming quality deviations provided in the embodiments of the present invention. Sub-diagram (a) is a comparison diagram of the maximum deviation of the joint width, and sub-diagram (b) is a comparison diagram of the maximum deviation of the misalignment. Detailed Implementation

[0097] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0098] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0099] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0100] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0101] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0102] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0103] To address at least one of the technical problems existing in the aforementioned related technologies, the present invention provides an adaptive installation and stress control method for inclined curtain wall panels based on feature classification. Figure 1 This is a flowchart illustrating an adaptive installation and stress control method for tilted curtain wall panels based on feature classification, provided in an embodiment of the present invention.

[0104] This invention provides a method for attitude control and temporary fixing of inclined facade curtain wall panels. The method is implemented based on a system for attitude control and temporary fixing of inclined facade curtain wall panels. The system includes a control terminal and hardware devices communicatively connected to the control terminal. Specifically, the control terminal can be a computer, server, or industrial console, and is internally configured with a data processing and classification module for processing data and issuing control commands, an attitude pre-control module, an in-position motion control module, a limit force monitoring module, a final fixation connection coordination module, and a forming verification and recording module.

[0105] The implementation environment of the hardware equipment depends on the main structure and its surrounding supporting surface. The object to be installed is an inclined facade curtain wall panel. The hardware equipment required for the installation operation includes lifting equipment, adjustable hoisting devices, temporary limiting steel components, contact sensing components, and a spatial posture measuring instrument. The lifting equipment, in conjunction with the adjustable hoisting devices, provides suspension support and attitude adjustment driving force for the inclined facade curtain wall panel. The temporary limiting steel components are set on the surface of the main structure to provide independent static constraints before the connection stage. The spatial posture measuring instrument is used to collect the three-dimensional spatial coordinates and angle data of the inclined facade curtain wall panel. The attitude control and temporary fixing method of the inclined facade curtain wall panel specifically includes the following steps:

[0106] Step S100 involves construction preparation and panel classification through a data processing and classification module. The geometric dimensions, boundary features, and center-of-gravity coordinates of the inclined facade curtain wall panels are extracted. Based on preset morphological threshold conditions, the inclined facade curtain wall panels are classified into a standard panel set, a deformed panel set, or an irregular panel set. The data processing and classification module then assigns target installation surface parameters, preset installation benchmarks, and upper limits for positional tolerances based on the classification results.

[0107] In step S200, the pre-control of the hoisting attitude is performed through the attitude pre-control module. The lifting equipment lifts the inclined facade curtain wall panel and suspends it in the air. Before the inclined facade curtain wall panel enters the positioning area, the attitude pre-control module receives real-time tilt angle data fed back by the spatial posture measuring instrument. By adjusting the tension of each lifting point of the adjustable lifting device, the force balance state of the inclined facade curtain wall panel is changed, so that the surface tilt angle and movement direction of the inclined facade curtain wall panel tend to be consistent with the spatial posture of the target installation surface.

[0108] Step S300: The corner positioning operation is performed through the positioning motion control module. The inclined facade curtain wall panel is controlled to move towards the main structure. The positioning motion control module allocates the boundary contact sequence according to the geometric space constraints, and controls the lifting equipment to make the main control corner of the inclined facade curtain wall panel contact the alignment reference point of the supporting base surface first. Then, the remaining corners are guided to converge along the target direction according to the main control corner until the entire inclined facade curtain wall panel reaches the preset coordinate range.

[0109] Step S400: Temporary limit constraints are implemented through the limit force monitoring module. After the initial position comparison of the inclined facade curtain wall panels is completed, temporary limit steel components are installed at the designated support nodes. The lifting equipment executes a constant-speed unloading program to transfer the gravity load and spatial moment of the inclined facade curtain wall panels to the temporary limit steel components. The limit force monitoring module verifies whether the displacement of the inclined facade curtain wall panels under the traction of the adjustable lifting device is within the allowable range, thereby establishing a static force system.

[0110] Step S500: The formal connection sequence is locked in place via the final connection coordination module. While maintaining the temporary static system, the fastening of the connectors is performed according to the established procedures, and the final connection coordination module monitors the stress transfer at each connection node. Once the formal connection stress meets the design requirements, the structural constraints of the temporary limiting steel components are released, and the inclined facade curtain wall panels are fixed to the main structure.

[0111] Step S600: Perform interface status inspection through the forming verification record module. Use a spatial pose measuring instrument to collect the coordinates of the edge nodes of adjacent inclined facade curtain wall panels. The forming verification record module calculates and extracts the joint width value and facade coplanarity data of each connection interface, compares them with the design acceptance requirements to confirm the current installation interface status, outputs quality inspection data records, and determines the completion conditions of the process.

[0112] In some embodiments, step S100 extracts the features and geometric information of the inclined facade curtain wall panels to provide necessary initial state data for subsequent spatial attitude adjustment and stress calculation. The specific steps are as follows:

[0113] Step S110: Obtain the preliminary detailed design model data. The data processing and classification module extracts the basic boundary geometric information of the inclined facade curtain wall panels from the input model file. The aforementioned preliminary detailed design model data includes building information model data files, computer-aided design 3D model files, and 3D mesh data sets. The data processing and classification module reads the top edge length, bottom edge length, side edge length, and preset installation corner point feature data of the inclined facade curtain wall panels from the file.

[0114] Step S120: Extract and calculate the attribute parameters of the inclined facade curtain wall panels. Extract the mass of the inclined facade curtain wall panels. and theoretical centroid coordinates For the calculation of mass distribution and center of gravity of inclined facade curtain wall panels made of composite materials, those skilled in the art can use the volume density integral or three-dimensional discrete mesh mass accumulation method to solve the problem. The model analysis and parameter calculation are well known techniques in this field and will not be elaborated here.

[0115] The data processing and parting module establishes a global construction coordinate system with the intersection of the main structure's building axes as the origin and the plumb line as the Z-axis. The module reads the 3D mesh data of the target installation interface and defines the target surface normal vector of the target installation plane in the global construction coordinate system as... The normal vector of the target surface The spatial absolute tilt orientation of the predetermined installation area of ​​the main structure is characterized. Simultaneously, a local coordinate system is established with the geometric center of the tilted facade curtain wall panel as the origin, and the self-surface normal vector of the tilted facade curtain wall panel in this local coordinate system is defined as... During subsequent installation, data is collected in real time using a spatial pose measuring instrument, and the surface normal vector is updated accordingly. This is used to characterize the current attitude of the object being hoisted.

[0116] Step S130: Extract the coordinates of the corner control points and establish a spatial distance mapping. The data processing and classification module defines the target installation area. The key control corners include the four vertex positions of the rectangular curtain wall panel, as well as the protruding contour points and reserved groove positioning points on the geometric contour of the irregular polygonal curtain wall panel.

[0117] In the global construction coordinate system, let the first... The target reference coordinates corresponding to the key control corners are: The current corner spatial coordinates on the solid outline of the inclined facade curtain wall panel corresponding to this benchmark are: , are positive integers and .

[0118] The data processing and classification module calculates the spatial distance vector between the current corner and the target position based on the extracted spatial coordinate information. and the spatial scalar distance between the two The relevant spatial relationships are calculated using the following formula:

[0119] ;

[0120] ;

[0121] in: This is the spatial distance vector between the current corner and the target position; For the first The target reference coordinates corresponding to each key control corner; The current corner spatial coordinates on the solid outline of the inclined facade curtain wall panel, corresponding to this benchmark; for and The spatial scalar distance between them is calculated using the Euclidean distance norm. The extracted spatial distance vector, spatial scalar distance, and normal vector data are stored as initial conditions in the data processing and fractal module for subsequent action commands to invoke.

[0122] Step S140: The data processing and classification module calculates the characteristic evaluation indicators of the inclined facade curtain wall panels. Based on the extracted foundation boundary geometric information, the data processing and classification module establishes the minimum three-dimensional bounding box of the inclined facade curtain wall panels. It calculates the diagonal length of this minimum three-dimensional bounding box and extracts the theoretical geometric center coordinates of the inclined facade curtain wall panels. By comparing the spatial deviation between the theoretical centroid coordinates and the theoretical geometric center coordinates, it calculates the centroid offset characteristic value. The formula for calculating the centroid offset characteristic value is as follows:

[0123] ;

[0124] in: This represents the characteristic value of the center of gravity offset. For the theoretical center of gravity coordinates; The coordinates of the theoretical geometric center; Let be the diagonal length of the minimum three-dimensional bounding box. For the construction of the minimum three-dimensional bounding box and the solution of the theoretical geometric center coordinates of the inclined facade curtain wall panels, those skilled in the art can use principal component analysis or the spatial vertex mean method for calculation. The calculation of the spatial geometric envelope is a well-known technique in this field and will not be elaborated upon here.

[0125] The data processing and classification module uses the extracted spatial coordinates of key control angles to generate a theoretical reference plane for the inclined facade curtain wall panels using the least squares method. It then calculates the maximum distance between the spatial coordinates of each key control angle and the theoretical reference plane, and uses this distance to calculate the flatness characteristic value. The formula for calculating the flatness characteristic value is as follows:

[0126] ;

[0127] in: This refers to the flatness characteristic value; The maximum distance by which the spatial coordinates of the critical control corners deviate from the theoretical reference plane.

[0128] Step S150: The data processing and classification module classifies the plate set. Within the data processing and classification module, the center of gravity offset threshold set according to the design specifications is input. And the flatness threshold set according to the specifications For the assembly of inclined facade curtain wall panels to be installed Select any current section The data processing and classification module will process the current segment. The evaluation indicators are logically compared with the preset thresholds.

[0129] When flatness eigenvalue centroid offset eigenvalue And the key is to control the number of corners. At 4 o'clock, change the current section Classified to standard plate set Standard module set It is suitable for curtain wall components with regular shape, uniform weight distribution and no deformation exceeding the limit.

[0130] When flatness eigenvalue centroid offset eigenvalue And the key is to control the number of corners. At 4 o'clock, the current section will be... Classified as a deformable plate set .

[0131] When the center of gravity shifts to the characteristic value Or, the key is to control the number of corners. At 4 o'clock, change the current section Classified as a heterogeneous plate set Irregular plate collection Suitable for curtain wall components with polygonal outlines, partial internal hollowing, or asymmetrical mass distribution.

[0132] Step S160: The data processing and classification module presets control benchmarks and tolerance ranges. The data processing and classification module assigns lower-level installation benchmark strategies and position tolerance upper limits to the above three module subsets respectively. For those classified into the standard block set The inclined facade curtain wall panels employ a baseline strategy of synchronous spatial alignment at the four corners, requiring all four key control corners to simultaneously reach their target positions, with an upper limit to their positional tolerance. Setting the basic design tolerance .

[0133] For those classified into the deformable plate set For the inclined facade curtain wall panels, the baseline strategy is to prioritize contact between the top edge and apply a normal thrust to close the bottom edge. This means that the upper stress point is fixed first to release gravity deformation, and then mechanical adjustment is used to eliminate it. The resulting gap, at this point, represents the upper limit of the positional tolerance. Zoom in ,in This is the deformation compensation allowance, which is based on... The values ​​are calculated proportionally according to a preset ratio.

[0134] For those classified into the irregular plate set For the inclined facade curtain wall panels, an alignment benchmark strategy is adopted, which uses the center of gravity normal as the rotation axis and assigns weights based on the reciprocal of the corner distance. This prioritizes ensuring the coincidence of the center of gravity axis, and then achieves edge alignment through rotation around the axis. An upper limit for positional tolerance is allocated. At that time, a proportional coefficient constraint is applied based on the farthest distance of the polygon's corners, and a preset tolerance range is output. The above-mentioned reference allocation and tolerance preset data for different types are output to the attitude pre-control module and the positioning motion control module as numerical boundaries for determining whether the spatial positioning state is qualified.

[0135] Step S170: The data processing and classification module plans the station layout coordinates of the spatial pose measuring instrument. It reads the 3D environmental model data of the main structure, extracts the edges of completed floor slabs or main steel structure beams around the work surface as candidate station locations, and establishes a line-of-sight connection model between each candidate station location and the target installation plane using the global construction coordinate system as a reference. This model filters and locks the stationary coordinates that ensure unobstructed line-of-sight coverage of the target installation plane and the expected movement trajectory of the inclined facade curtain wall panels by the spatial pose measuring instrument. For line-of-sight analysis and view coverage calculation in the 3D environmental space, those skilled in the art can use ray tracing algorithms or depth buffering algorithms to solve the problem. The line-of-sight analysis and spatial visibility calculation are well-known technologies in this field and will not be elaborated upon here.

[0136] Step S180: The data processing and classification module extracts the spatial distribution data of the formal connection nodes on the main structure. Assume that the inclined facade curtain wall panels correspond to the following on the main structure: The first formal connection node, data processing and classification module extracts the first... The node center coordinates of each formal connection node in the global construction coordinate system ,in are positive integers and Based on the center coordinates of this node And the design dimensions of supporting formal connection components, including embedded channels, adapter brackets or aluminum alloy hooks, data processing and parting modules. Generate the anti-interference bounding sphere data of the node in three-dimensional space with the center of the sphere and the maximum outer dimension of the component as the radius.

[0137] In step S190, the data processing and classification module performs preliminary spatial mapping and layout calculations for the temporary limiting steel components. Based on the foundation boundary geometry information and gravity distribution requirements of the inclined facade curtain wall panels, preliminary allocation is performed within the target installation plane. A temporary support stress point, let the first one be... The preset installation coordinates of the temporary support stress points are: ,in are positive integers and To avoid interference between the temporary limiting steel components and the installation space of the permanent connecting components during actual deployment, the data processing and classification module performs a spatial Euclidean distance verification on the above coordinate set. The verification calculation formula is as follows:

[0138] ;

[0139] in: For the first The preset installation coordinates of the temporary support stress point are related to the first The spatial straight-line distance between the center coordinates of each formal connection node in the global construction coordinate system; For the first Preset installation coordinates for each temporary support stress point; For the first The coordinates of the node center of each formal connection node in the global construction coordinate system.

[0140] The data processing and classification module determines whether data at any distance meets the spatial avoidance conditions. The determination formula is as follows:

[0141] ;

[0142] in: This is a pre-calculated spatial interference prevention safety distance threshold based on the component dimensions. This threshold is calculated by superimposing the maximum circumscribed cylinder radius of the temporary limiting steel component with the safety clearance reserved for manual operation.

[0143] When the calculation result exists At that time, the data processing and parting module determines that spatial interference has occurred at this location. The data processing and parting module extracts the tangent vector of the target mounting plane at the current location and controls the preset mounting coordinates. The device performs a translational step along the tangential direction of the target mounting plane. The single translational step distance is set to... The translation step distance Values One-tenth. After each translation, the data processing and classification module re-substitutes the verification calculation formula and iteratively updates the coordinate data until all temporary support stress points meet the above spatial avoidance conditions. After completing the spatial anti-interference arrangement, the data processing and classification module locks the final determined station layout coordinates and the preset installation coordinates of the temporary limiting steel components, and completes the initialization definition of the tooling equipment's front position.

[0144] In some embodiments, step S200 assesses and matches the stress state of the lifting points of the inclined facade curtain wall panels to ensure clear stress boundary conditions after the panels are lifted and suspended, laying the foundation for subsequent attitude adjustment. The specific steps are as follows: Step S210, the attitude pre-control module extracts initial parameters and constructs a basic stress model for the inclined facade curtain wall panels. Based on the mass obtained in step S100... Calculate the gravity load on the inclined facade curtain wall panel in the global construction coordinate system. The formula for calculating the gravity vector of the inclined facade curtain wall panel is as follows:

[0145] ;

[0146] in, The vector of gravity acting on the inclined facade curtain wall panels; This is the gravitational acceleration vector.

[0147] Step S220: The attitude pre-control module performs the selection and coordinate mapping of multiple lifting point placement positions. Available hanging points are extracted from the solid model of the inclined facade curtain wall panel. The underlying solid structure of these available hanging points includes pre-embedded aluminum alloy lugs on the back of the inclined facade curtain wall panel, prefabricated lifting rings on the frame, and stress-bearing holes on temporary reinforcement components. The attitude pre-control module sets the number of lifting points used for the hoisting operation to be... Extract the first The three-dimensional spatial coordinates of each suspension point ,in are positive integers and The lifting equipment is connected to the various lifting points arranged above via an adjustable spreader. The lower mechanical structure of the adjustable spreader includes a CNC servo winch, a chain hoist, and a flexible steel wire rope with a fine-tuning telescopic joint.

[0148] In step S230, the attitude pre-control module establishes a set of static equilibrium equations for the inclined facade curtain wall panel in a suspended state. After the inclined facade curtain wall panel is detached from the ground support, its spatial orientation is determined by gravity and the traction force of multiple adjustable hangers. The attitude pre-control module establishes a force constraint model based on the principles of rigid body mechanics. The corresponding spatial translational dynamic equilibrium and rotational torque equilibrium conditions around the center of gravity are as follows:

[0149] ;

[0150] ;

[0151] in, For the first The tension vector of the lifting device corresponding to each lifting point; These are the theoretical center of gravity coordinates. Because when the number of lifting points... At time 3, the aforementioned equations are in a statically indeterminate state. The attitude pre-control module extracts the elastic tensile stiffness coefficient of a single adjustable hanger and combines it with the geometrically coordinated deformation equations of each hanger point caused by the spatial displacement of the inclined facade curtain wall panels as supplementary constraints. For the spatial matrix solution and vector cross product operation of the aforementioned linear equations containing the supplementary constraints of coordinated deformation, those skilled in the art can use Gaussian elimination or iterative approximation algorithms to solve them. The numerical solution method for its static equations is a well-known technique in this field and will not be elaborated here.

[0152] Step S240: The attitude pre-control module evaluates the rationality of the force matching of the current lifting point arrangement scheme. The attitude pre-control module reads the rated breaking tensile force parameters of the configured adjustable spreader, sets a safety factor, calculates the upper limit of the allowable tensile force of a single adjustable spreader, and compares the solution results of the above static equilibrium equations with the upper limit of the allowable tensile force for verification. When the tension vector of any spreader is obtained... If the module length exceeds the allowable tensile force limit, or if the above-mentioned static equilibrium equations have no real solutions under the current lifting point coordinate arrangement, the attitude pre-control module determines that the current force state is mismatched. At this time, the attitude pre-control module 200 outputs an adjustment command to control the change of the number of lifting points. Or modify the first The three-dimensional spatial coordinates of each suspension point Then repeat step S230 until all the tension vectors of the lifting devices are within the allowable tension range, thus completing the closed-loop matching of the stress state of the lifting points.

[0153] Step S250: The attitude pre-control module acquires the real-time spatial attitude of the inclined facade curtain wall panel in a suspended state. The spatial pose measuring instrument collects the coordinates of the boundary entity nodes of the inclined facade curtain wall panel in real time, and the attitude pre-control module updates the self-surface normal vector defined earlier based on the collected coordinate data. To achieve spatial parallel alignment between the inclined facade curtain wall panels and the target installation plane, the attitude pre-control module directly calculates its own surface normal vector. With respect to the target surface normal vector defined above The actual included angle in three-dimensional space, and this included angle is defined as the current attitude angle deviation. The formula for calculating the current attitude angle deviation is as follows:

[0154] ;

[0155] in: This represents the current attitude angle deviation. It is the normal vector of its own surface; This is the normal vector of the target surface.

[0156] In step S260, the attitude pre-control module generates a spreader length adjustment command. The attitude pre-control module uses the current attitude angle deviation... Approaching zero is the control objective. The extension length of the adjustable spreader is used as an independent control variable. Let the first... The current suspension length of the adjustable lifting device corresponding to each lifting point is: Its corresponding length adjustment variable is The attitude pre-control module calculates the deviation of the current attitude angle based on the rigid body space rotation constraint relationship. Eliminate the required individual Numerical calculations. For the kinematic solution process of inversely determining the length change of the suspension mechanism based on the target space attitude, those skilled in the art can use the inverse Jacobian matrix method for calculation. The rigid body kinematics inverse algorithm is a well-known technique in this field and will not be elaborated upon here. The length adjustment variable is then calculated and obtained. Subsequently, the attitude pre-control module adjusts the length variable based on the mechanical transmission ratio of the adjustable spreader's internal transmission mechanism. This is converted into an angular displacement control signal for the lower-level drive motor.

[0157] Step S270: Perform adaptive rotation correction of the attitude. The attitude pre-control module outputs a mechanical action command containing angular displacement control signals to the adjustable spreader. The lower actuator of the adjustable spreader performs retraction and extension actions according to the command, causing the corresponding rope to tighten or loosen. At each suspension length... During the transformation, the tension vectors of each lifting device change. Under the combined action of the redistributed traction field and the constant gravity field, the inclined facade curtain wall panels undergo spatial rotation around their center of gravity. The attitude pre-control module continuously collects the physical attitude data through a spatial pose measurement instrument and cyclically updates its own surface normal vector. The formula above is then used to perform closed-loop feedback calculations, driving the current attitude angle deviation. Approaching zero, it achieves physical adaptive correction of the orientation of the center of gravity of the suspended object and the orientation of the surface layer.

[0158] Step S280: The attitude pre-control module performs a measurement of the stability of the in-position attitude. During the suspended rotation adjustment process, the inclined facade curtain wall panel will experience spatial swaying due to inertia and environmental wind loads. The spatial pose measuring instrument continuously collects the spatial coordinates of the inclined facade curtain wall panel at a preset sampling frequency, and the attitude pre-control module extracts the current attitude angle deviation defined above. Within a set time window containing a preset number of consecutive sampling periods, a set of continuous deviation sequence data is recorded. The attitude pre-control module calculates the current attitude angle deviation within this time window. The range of is defined as the attitude fluctuation eigenvalue. The calculation formula is as follows:

[0159] ;

[0160] in: These are the characteristic values ​​of attitude fluctuation; The maximum value of the current attitude angle deviation within the set time window; This is the minimum value of the current attitude angle deviation within the set time window.

[0161] In step S290, the attitude pre-control module determines the attitude locking conditions. To ensure interface alignment accuracy during the positioning phase, the attitude pre-control module internally presets an angle tolerance threshold based on position tolerance derivation. Compared with the pre-tested calibrated fluctuation tolerance threshold Angle tolerance threshold The specific value is determined by the upper limit of the position tolerance defined above. Based on trigonometric relationships, the attitude pre-control module extracts the current attitude angle deviation calculated in real time. With attitude fluctuation eigenvalues The attitude pre-control module determines the current attitude angle deviation. Is it less than or equal to the angle tolerance threshold? Simultaneously determine the attitude fluctuation characteristic value. Is it less than or equal to the fluctuation tolerance threshold? The threshold comparison operation of the above real-time signal can be implemented by a comparison instruction module in a programmable logic controller. The industrial control logic judgment is a well-known technology in this field and will not be described in detail here.

[0162] Step S295: Perform hardware pre-locking operation. When both of the above judgment conditions are met, the attitude pre-control module determines that the inclined facade curtain wall panel has eliminated spatial sway and met the positioning requirements, and outputs a locking control signal to the adjustable hanger. The adjustable hanger triggers the rigid constraint of the internal lower mechanism according to the locking control signal. The specific implementation of the rigid constraint includes controlling the electromagnetic brake mechanism of the internal actuator motor to de-energize and close, and driving the mechanical locking ratchet on the drum side to enter the engagement state. Through the above mechanical actions, the extension length of each lifting point is fixed.

[0163] With a fixed suspension length, the inclined facade curtain wall panels maintain a spatial attitude of being parallel to the target installation plane or at a preset compensation angle under the action of gravity. If any of the above judgment conditions are not met, the attitude pre-control module refuses to output a locking control signal and returns to continue executing the closed-loop feedback adjustment of the hanger length until the attitude deviation and sway amplitude converge to the tolerance range. After the pre-locking is completed, the spatial attitude adjustment operation is completed, providing a definite initial spatial configuration boundary for the corner positioning in the subsequent step S300.

[0164] In some embodiments, step S300 involves performing a corner-first, localized-drive-overall-positioning operation on the inclined facade curtain wall panel to move the panel, which has already completed spatial attitude pre-locking, to the target installation position. The specific steps are as follows:

[0165] In step S310, the positioning motion control module extracts the initial positioning parameters and plans the spatial motion direction. Based on the lower-level installation reference strategy allocated to each subset of panels in step S160, the positioning motion control module determines the positioning sequence and corresponding target corners. For panels classified into the standard panel set, the four key control corners are used as the main control corners for synchronous positioning. For panels classified into the deformable panel set, the top edge node is determined as the main control corner for priority positioning. For panels classified into the irregular panel set, the intersection of the centroid normal and the panel surface is determined as the main control corner for priority positioning. Let the index set of this main control corner be... The positioning motion control module obtains the real-time spatial coordinates of the current key control corner at the corresponding index through a spatial pose measuring instrument, and extracts the coordinates of the corresponding target node on the main structure. The positioning motion control module subtracts the real-time spatial coordinates from the target node coordinates to calculate the spatial distance vector between the current corner and the target position. Based on this vector, the positioning motion control module calculates the positioning guidance direction vector. The calculation formula is as follows:

[0166] ;

[0167] in, This is the positioning guidance direction vector; The set of indices for priority positioning of corners; This is the spatial distance vector between the current corner and the target position.

[0168] In step S320, the positioning motion control module generates the spatial approximation motion trajectory and velocity control curve. To prevent rigid collisions between the inclined facade curtain wall panels and the main structure, the positioning motion control module calculates the spatial distance vector between the current corner and the target position. The modulus length is used to obtain the spatial scalar distance. The positional motion control module extracts the index set. The corresponding spatial scalar distance Furthermore, in cases where there are multiple controlling corners, the minimum distance among them is selected as the current remaining approximation distance. The calculation formula is as follows:

[0169] ;

[0170] in: This represents the current remaining approximation distance; It is a spatial scalar distance.

[0171] The positional motion control module is established based on the current remaining approximation distance. The segmented speed control function outputs real-time drive speed commands. The segmented speed control function is as follows:

[0172] ;

[0173] in: For driving speed commands; This refers to the maximum permissible translational speed of the lifting equipment; The preset deceleration buffer distance is obtained by multiplying the braking response time of the lifting equipment by the load inertia. This refers to the upper limit of the position tolerance defined above.

[0174] In step S330, the position-in motion control module executes hardware motion drive and spatial trajectory closed-loop tracking. The position-in motion control module sends the drive speed command... and positioning guidance direction vector The velocity vector is synthesized into a three-dimensional velocity vector and decomposed into the underlying control signal of the lifting equipment. This underlying control signal is specifically sent to the luffing trolley motor, slewing mechanism servo driver, and hoisting winch mechanism driver of the lifting equipment to cover the radial, angular, and axial movements in the polar coordinate system, respectively. The lifting equipment moves the suspended inclined facade curtain wall panel toward the target installation plane according to the underlying control signal.

[0175] During the aforementioned spatial movement, the spatial pose measuring instrument collects real-time spatial coordinates and feeds them back to the positioning motion control module. The positioning motion control module then recalculates the spatial distance vector between the current corner and the target position based on the updated coordinates. and spatial scalar distance The motion control module then inputs the updated distance data into the segmented speed control function, cyclically outputting deceleration signals until a drive speed command is issued. Reduced to zero. When the drive speed command... When the value equals zero, the positioning motion control module determines that the priority positioning corner has entered the tolerance range and triggers the parking brake command. For the linkage and synchronous control of three-dimensional spatial trajectory interpolation and multi-axis motors, those skilled in the art can use linear interpolation algorithms or multi-axis motion controllers to implement it. Its multi-degree-of-freedom motion trajectory following and position servo control are well-known technologies in the field and will not be described in detail here.

[0176] Step S340: The positioning motion control module acquires the physical contact state between the inclined facade curtain wall panel and the main structure. A contact sensing component is pre-installed at the preferred positioning corner of the inclined facade curtain wall panel. The lower-level implementation of this contact sensing component includes a thin-film pressure sensor attached to the panel frame or a three-dimensional force sensor built into a temporary connector. The positioning motion control module collects the three-dimensional contact force vector experienced by the preferred positioning corner in real time. Extract the target surface normal vector And calculate the three-dimensional contact force vector. The normal contact force along this normal direction is calculated using the following formula:

[0177] ;

[0178] in: The normal contact component; The three-dimensional contact force vector of the priority positioning edge corner; This is the normal vector of the target surface.

[0179] The positioning motion control module is preset with a calibrated and verified initial contact force threshold. When the calculated normal contact force component Greater than or equal to the initial contact force threshold At that time, the positioning motion control module determines that the priority positioning corner has established contact with the main structure and outputs a stop approach command to the lifting equipment.

[0180] In step S350, the positioning motion control module performs contact overload protection and stress monitoring. To prevent material damage caused by excessive local stress during rigid contact of the inclined facade curtain wall panels, the positioning motion control module reads the contact area of ​​the preferred positioning corner from a preset sensor hardware parameter library. And calculate the contact stress at the corners. The calculation formula is as follows:

[0181] ;

[0182] in: Corner contact stress; The normal contact component; The contact area of ​​the priority positioning corner.

[0183] The positioning motion control module sets the allowable contact stress of the material based on the material properties of the curtain wall panel. The positioning motion control module will calculate the corner contact stress. With respect to allowable contact stress of the material Compare the results. When the contact stress at the corners... Exceeding the allowable contact stress of the material Upon arrival, the positioning motion control module immediately outputs a micro-reverse command to the lifting equipment. This micro-reverse command includes a preset fixed reverse step size parameter to drive the lifting equipment to perform reverse movement, thereby reducing contact stress. For the filtering of sensor signals and the force feedback closed-loop control, those skilled in the art can use a PID control algorithm for implementation. Its industrial force feedback servo control is a well-known technology in this field and will not be elaborated upon here.

[0184] Step S360: The positioning motion control module establishes a local hinge fulcrum. This ensures the corner contact stress of the main control edge is maintained. Once stabilized within a safe range, the positioning motion control module outputs a partial locking command to the temporary limiting steel component located at the corner. The lower actuator of the temporary limiting steel component then performs a mechanical clamping action based on this command. Specific implementations of this mechanical clamping action include triggering an electric push rod to extend and press against the edge of the panel, or driving an electromagnetic latch to close and lock the pre-embedded pin. Through these constraints, the priority positioning corner is restricted in three-dimensional translational freedom in space, while retaining rotational freedom around the contact point. This contact point is then converted into a temporary hinge reference point for the inclined facade curtain wall panel in space, providing a rotational constraint boundary for the subsequent rotational positioning of the non-positioned corner. For standard panels implementing a four-corner synchronous spatial alignment reference strategy, the partial hinge establishment step is skipped, maintaining the overall translational posture.

[0185] In step S370, the positioning motion control module plans the rotational trajectory of the unpositioned area. Based on the temporary hinge reference point established in step S360, the positioning motion control module obtains the three-dimensional coordinates of the unpositioned corner using a spatial pose measuring instrument. Since the translational degree of freedom of the priority positioning corner has been restricted, the subsequent motion of the inclined facade curtain wall panel is transformed into rigid body rotation around the temporary hinge reference point. The positioning motion control module sends a coordinated control command to the attitude pre-control module, which controls multiple sets of adjustable hangers to perform asynchronous rope length adjustment actions. Specifically, the length of the slings on the side closer to the temporary hinge reference point remains unchanged, while the suspension length of the slings on the side farther away is increased simultaneously. Under the action of gravity, the inclined facade curtain wall panel rotates around the temporary hinge reference point, causing the unpositioned corner to approach the target installation plane. When the current panel is determined to be a standard panel, the adjustable hangers are directly controlled to synchronously perform length adjustment, driving the unpositioned corner to approach in a straight line at the same speed. For rigid body attitude control under multi-point coordinated release, those skilled in the art can use the Lagrange equations to establish a dynamic model and solve it. Its multibody dynamics control is a well-known technology in the field and will not be elaborated here.

[0186] Step S380: The positioning motion control module monitors the global contact status to determine position convergence. The contact sensing components described above are configured in all other formal connection node areas of the inclined facade curtain wall panels. The positioning motion control module reads the normal contact force at all nodes in real time. When the normal contact force at all formal connection nodes is greater than or equal to the initial contact force threshold... When the positioning motion control module determines that the inclined facade curtain wall panel has completed its overall positioning, it outputs a stop adjustment command to the adjustable hoist, interrupting the release of the rope length or the rotation adjustment.

[0187] Step S390: Perform a global verification of spatial position accuracy. The spatial pose measuring instrument scans each formal connection node on the inclined facade curtain wall panel to obtain the... The actual spatial coordinates of each formally connected node The positioning motion control module extracts the first [unclear] from the three-dimensional environmental model data of the main structure. Theoretical target coordinates of each formally connected node Calculate the global maximum position deviation The calculation formula is as follows:

[0188] ;

[0189] in: This represents the global maximum positional deviation. This represents the total number of officially connected nodes. For the first The actual spatial coordinates of each formally connected node; For the first The theoretical target coordinates of each formally connected node.

[0190] The positioning motion control module will determine the global maximum position deviation. The position tolerance limit defined above Perform a comparison, and when the comparison result meets the requirements... At this point, the positioning motion control module determines that the overall positional accuracy verification has passed. Then, the positioning motion control module outputs a global locking command to the temporary limiting steel components located at the remaining nodes, driving the internal electric push rods or electromagnetic latches to perform a mechanical locking action, thus solidifying the spatial position of the inclined facade curtain wall panels; if the comparison result is... The positioning motion control module generates an error feedback signal and returns to step S370, driving the adjustable lifting device to perform local attitude fine-tuning until the position tolerance requirements are met. After the overall position accuracy is verified, physical boundary conditions are provided for subsequent structural welding and load transfer operations.

[0191] In some embodiments, step S400 is implemented by applying independent temporary limiting constraints to the inclined facade curtain wall panels under static conditions. Before unloading the traction force of the lifting equipment, a dedicated rigid component takes over the entire load of the panels to establish an independent mechanical support system. The specific steps are as follows:

[0192] In step S410, the limit force monitoring module determines the specific structural parameters of the temporary limit steel component. The lower structure of the temporary limit steel component includes a fixed base rigidly connected to the main structure, a nut and screw adjustment mechanism providing length compensation, and an end self-locking latch connected to the edge of the inclined facade curtain wall panel. The end self-locking latch specifically adopts an electromagnetic pin or a mechanical spring lock. The limit force monitoring module reads the mechanical parameters of each group of temporary limit steel components from a preset component attribute database. These mechanical parameters specifically include the rated tensile load and the rated shear load, providing a hardware data basis for subsequent deployment force analysis.

[0193] Step S420: The constraint force monitoring module extracts the spatial deployment location of the temporary constraint steel components and constructs a force analysis model. The constraint force monitoring module sets the total number of temporary constraint steel components participating in load transfer to be [number missing]. Extracting the first from the three-dimensional environmental model data of the main structure Installation node coordinates of a temporary limiting steel component ,in are positive integers and To ensure structural safety after unloading the lifting equipment, the limit force monitoring module establishes a static balance and anti-overturning verification model.

[0194] Step S430: The limit force monitoring module calculates the gravity overturning moment caused by the weight of the inclined facade curtain wall panel. The limit force monitoring module reads the theoretical center of gravity coordinates from the preset panel attribute database. and the quality of the inclined facade curtain wall panels Using the horizontal line connecting the lowest temporary restraining steel components as the assumed overturning rotation axis, the restraining force monitoring module calculates the theoretical center of gravity coordinates. The vertical horizontal lever arm is obtained by calculating the vertical projection distance from the assumed overturning rotation axis in the horizontal plane. Based on the above parameters, the limit force monitoring module calculates the gravity overturning moment using the following formula:

[0195] ;

[0196] in: The overturning moment is due to gravity. For the quality of the inclined facade curtain wall panels; It is the vector of gravitational acceleration; Theoretical centroid coordinates The vertical horizontal lever arm of the assumed overturning rotation axis.

[0197] Step S440: The limit force monitoring module calculates the maximum anti-overturning moment that the system can provide at the above deployment position. The limit force monitoring module extracts the first... Rated tensile load of a temporary limiting steel component And calculate the corresponding installation node coordinates. Obtain the vertical force arm by taking the vertical distance from the vertical section to the assumed overturning rotation axis. The limit force monitoring module calculates the maximum anti-overturning moment based on the above data. The calculation formula is as follows:

[0198] ;

[0199] in: The maximum anti-overturning moment; This represents the total number of temporary limiting steel components; For the first The rated tensile load of a temporary limiting steel component; Preset installation coordinates The vertical force arm of the assumed overturning rotation axis.

[0200] Step S450: The limit force monitoring module performs a force rationality determination at the deployment location. The limit force monitoring module sets the structural safety factor. The calculated maximum anti-overturning moment With gravity overturning moment Perform a comparison, when the conditions are met At that time, the limit force monitoring module determines the total number of temporary limit steel components. and installation node coordinates The deployment strategy meets the stress requirements of the load-bearing assembly. If this condition is not met, the limit force monitoring module outputs a position adjustment command, increasing the total number of temporary limit steel components. Or shift the installation node coordinates upwards. To increase the force arm, return to step S430 for recalculation. For the verification of the cross-sectional stress of rigid members and the simultaneous solution of the static equations, those skilled in the art can use the finite element analysis method for verification. The verification of the static strength of the structure is a well-known technique in this field and will not be elaborated here.

[0201] In step S460, the limit force monitoring module performs the connection and pre-tightening of the temporary limit steel components. After determining that the deployment strategy meets the force requirements, the limit force monitoring module sends signals to the coordinates of each installation node. The temporary limiting steel component issues a locking drive command, and the servo motor in the nut screw adjustment mechanism of the temporary limiting steel component drives the screw to extend until the end self-locking bayonet engages with the pre-embedded slot on the edge of the inclined facade curtain wall panel. The electromagnetic pin inside the end self-locking bayonet is energized and inserted to complete the rigid connection. The limiting force monitoring module reads the feedback data from the axial force sensor integrated inside the temporary limiting steel component and extracts the preset initial preload threshold. It then drives the servo motor to apply tension to this threshold to eliminate mechanical connection gaps.

[0202] In step S470, the limit force monitoring module performs gradient unloading and torque transfer monitoring of the traction load. After the temporary limit system is established, to prevent impact loads, the limit force monitoring module outputs a gradient relaxation command to the lifting equipment and adjustable spreader. The main hoisting winch of the lifting equipment releases the slings at a preset low speed, and the adjustable spreader simultaneously increases the suspension length. As the sling tension decreases, the gravity load of the inclined facade curtain wall panel gradually transfers to the temporary limit steel component. The limit force monitoring module collects the force data fed back by each axial force sensor at a preset sampling frequency to obtain the first... Real-time pull-out force of a temporary limiting steel component The limit force monitoring module calculates the current real-time anti-overturning moment. The calculation formula is as follows:

[0203] ;

[0204] in: This represents the current real-time anti-overturning moment; For the first Real-time pull-out force of a temporary limiting steel component; This represents the total number of temporary limiting steel components; Preset installation coordinates The vertical force arm of the assumed overturning rotation axis.

[0205] In step S480, the limit force monitoring module determines that the load transfer is complete and releases the lifting constraints. The limit force monitoring module will calculate the current real-time overturning moment. Compared with the gravity overturning moment calculated above Compare the current real-time anti-overturning moment. With gravity overturning moment When the absolute value of the difference is less than the preset torque balance tolerance, and the built-in force gauge of the lifting equipment shows that the sling tension has dropped below the pre-set unhooking threshold obtained from the system database, the limit force monitoring module determines that the static load of the inclined facade curtain wall panel has been completely taken over by the temporary limit steel component. The limit force monitoring module extracts each real-time pull-out force. Confirm that they are all less than the corresponding first. Rated tensile load of a temporary limiting steel component After confirming that there is no overload at each support node, the limit force monitoring module sends a release command to the adjustable lifting device, controlling its lower actuator to disconnect the mechanical shackles connecting to the inclined facade curtain wall panels. For tension release and load smooth transfer control under multi-actuator coordination, those skilled in the art can use cross-coupling control algorithms to achieve this. Its multi-axis synchronous force control strategy is a well-known technology in the field and will not be described in detail here.

[0206] After completing the above actions, the lifting equipment is disconnected from the inclined facade curtain wall panel. The inclined facade curtain wall panel maintains its spatial position under the independent constraint of the temporary limiting steel component, providing support for subsequent permanent welding and bolt fixing operations.

[0207] Step S490: The limit force monitoring module initiates static stability verification. After the lifting equipment is unhooked, the force system of the inclined facade curtain wall panel changes from a combined force state of suspended load and temporary support to a temporary limit constraint support. The spatial pose measuring instrument rescans the aforementioned formal connection nodes to obtain the first [uninterrupted] state [value]. The stationary spatial coordinates of each formally connected node The limit force monitoring module reads the record before disengagement from the system's historical pose cache. The actual spatial coordinates of each formally connected node And calculate the minute nodal displacements caused by the system's stress reconstruction. The calculation formula is as follows:

[0208] ;

[0209] in: This refers to the minute displacement of the node; The first under the no-intervention state The stationary spatial coordinates of each formally connected node; For the first The actual spatial coordinates of each formally connected node.

[0210] Step S492: The limit force monitoring module determines the displacement convergence state. The limit force monitoring module reads the allowable deformation threshold set according to the material's mechanical properties from a preset structural attribute parameter library. The limit force monitoring module detects all minute displacements of the nodes. With structural allowable deformation threshold Comparison was performed when all nodes had minute displacements. All are less than or equal to the structural allowable deformation threshold. At that time, the limit force monitoring module determines that the inclined facade curtain wall panel has static stability in spatial position. If there is a small displacement at the node... Greater than the structural allowable deformation threshold The limit force monitoring module outputs a local support failure alarm signal.

[0211] Step S494: The limit force monitoring module performs a time-domain verification of the stress state. To investigate potential mechanical slippage or loosening of the temporary limit steel component after the pipe is loaded, the limit force monitoring module continuously records the data at a fixed sampling frequency within a preset monitoring time period. Real-time pull-out force of a temporary limiting steel component Calculate the range of pull-out force fluctuations during the monitoring period. The calculation formula is as follows:

[0212] ;

[0213] in: The pull-out force fluctuation is extremely poor; For the monitoring period, the first The maximum real-time pull-out force of a temporary limiting steel component; For the monitoring period, the first Minimum real-time pull-out force of a temporary limiting steel component.

[0214] Step S496: The limit force monitoring module confirms the final operational boundary conditions. The limit force monitoring module reads the pull-out force fluctuation tolerance threshold from the system parameter library. The fluctuation range of each pull-out force obtained by comparison and calculation was extremely large. Are all values ​​less than the pull-out force fluctuation tolerance threshold? When both the above-mentioned node displacement judgment condition and the pull-out force fluctuation range judgment condition are met, the limit force monitoring module determines that the stability verification under the no-intervention state has passed. The limit force monitoring module sends a curing operation permission signal to the field terminal equipment through the industrial communication bus. This curing operation permission signal is used to instruct the field equipment or personnel to perform structural welding or high-strength bolt anchoring operations at the target location. For data smoothing and trend prediction of minor structural deformations, those skilled in the art can use the Kalman filter algorithm for implementation. Its time series data processing is a well-known technology in the field and will not be elaborated here.

[0215] In some embodiments, step S500 involves performing a coordinated final connection operation on the inclined facade curtain wall panels to guide on-site equipment or personnel to complete the permanent connection along a planned path, thereby reducing structural deformation during construction. The specific steps are as follows:

[0216] Step S510: The final connection coordination module generates an anti-disturbance locking sequence. When performing permanent structural connections, to prevent localized warping of the inclined facade curtain wall panels due to welding thermal stress or bolt preload concentration, the final connection coordination module plans the connection sequence based on the principle of prioritizing nodes closer to the center of gravity. The final connection coordination module extracts the first... Theoretical target coordinates of each formally connected node It also reads the theoretical barycentric coordinates from a pre-defined plate attribute database. Calculate the distance between the topological centers of the nodes. The calculation formula is as follows:

[0217] ;

[0218] in: Distance between the nodes and the topological centers; For the first The theoretical target coordinates of each formally connected node; These are the coordinates of the theoretical centroid.

[0219] The final connection coordination module sets the distance between the node topology centers of all officially connected nodes. Arrange the sequences in ascending order from smallest to largest to generate an anti-disturbance locking sequence. The lower-level execution logic of this sequence is to instruct the field devices to first fix the nodes closer to the center of gravity, and then expand to the edge nodes.

[0220] Step S520: The finalized connection coordination module issues a node locking command. The finalized connection coordination module follows the anti-disturbance locking sequence. The sorting results are transmitted step-by-step to the automated welding robot or intelligent torque wrench via the field communication bus, and the execution parameters include the three-dimensional spatial coordinates of the corresponding node and the preset welding process parameters or tightening torque settings. The automated welding robot performs the circumferential welding operation at the corresponding node according to the instructions; the intelligent torque wrench applies the set torque according to the instructions.

[0221] Step S530: The final connection coordination module performs dynamic disturbance monitoring during the locking process. During the construction work on the current node, the spatial pose measuring instrument scans the remaining nodes that have not yet been locked in real time, obtaining the... Real-time spatial coordinates of the unlocked nodes The finalized connection coordination module retrieves the first uninterrupted state recorded after decoupling from the system's historical pose cache. The stationary spatial coordinates of each formally connected node Calculate dynamic disturbance deviation The calculation formula is as follows:

[0222] ;

[0223] in: For dynamic disturbance deviation; For the first Real-time spatial coordinates of an unlocked node; The first under the no-intervention state The static spatial coordinates of each formally connected node.

[0224] Step S540: The finalized connection coordination module performs tolerance comparison and operational intervention. The finalized connection coordination module reads the preset dynamic disturbance tolerance threshold from the system parameter library. The calculated dynamic disturbance deviation With dynamic disturbance tolerance threshold Real-time comparison is performed when dynamic disturbance deviation occurs. Greater than the dynamic disturbance tolerance threshold At this time, the final connection coordination module outputs a work pause command to the working equipment, stopping the current welding or pre-tightening action. The equipment enters standby mode, waiting for the local deformation stress to be released, until the coordinate data fed back by the spatial posture measuring instrument indicates dynamic disturbance deviation. Less than or equal to the dynamic disturbance tolerance threshold The final connection coordination module then issues a recovery operation command. For the simulation and release control of welding thermal stress, those skilled in the art can use the inherent strain method for analysis and prediction. The control of residual stress in the structure is a well-known technology in this field and will not be elaborated upon here.

[0225] Step S550: The final connection coordination module confirms the completion of the global permanent connection. The final connection coordination module receives the node completion signal sent by the automated welding robot or intelligent torque wrench via the industrial communication bus, and the anti-disturbance locking sequence... When all formal connection nodes included in the module report completion signals, the final connection coordination module determines that the permanent connection work of the inclined facade curtain wall panel is completed, and the temporary support unloading conditions are met.

[0226] In step S560, the finalized connection coordination module performs a temporary constraint release operation. The finalized connection coordination module then moves to the coordinates of each installation node. The temporary limiting steel component at the location issues an unlocking and retraction command. The electromagnetic pin inside the temporary limiting steel component is de-energized and pulled out, causing the servo motor in the nut screw adjustment mechanism to reverse, driving the screw to retract. During the retraction mechanical action, the final connection coordination module reads the feedback data from the axial force sensor integrated inside the temporary limiting steel component in real time, obtaining the first... Real-time pull-out force of a temporary limiting steel component The final connection coordination module reads the zero-point force threshold from the system parameter library. When all real-time pull-out forces All are less than or equal to the zero-point force threshold. At that time, the final connection coordination module confirmed that the end self-locking bayonet of the temporary limiting steel component had completely disengaged from the inclined facade curtain wall panel.

[0227] In some embodiments, step S600 involves a comprehensive review and data archiving of the installation quality of the inclined facade curtain wall panels to determine the completion conditions of the process and ensure the traceability of the acceptance data. The specific steps are as follows:

[0228] Step S610: The forming verification recording module performs a global forming closed-loop verification. After the inclined facade curtain wall panel detaches from all temporary support components, its load is borne by the permanent connection nodes. The spatial pose measuring instrument performs a global scan of the inclined facade curtain wall panel to obtain the first... The final spatial coordinates of each formally connected node The forming verification record module extracts the first step from the 3D environment model data. Theoretical target coordinates of each formally connected node Calculate the forming deviation of a single node The calculation formula is as follows:

[0229] ;

[0230] in: This refers to single-node forming deviation; For the first The final spatial coordinates of each formally connected node; For the first The theoretical target coordinates of each formally connected node.

[0231] In step S620, the forming verification record module generates the forming quality assessment result. The forming verification record module reads the upper limit of the engineering acceptance tolerance from the preset engineering acceptance standard library. Compare all single-node forming deviations Are all less than or equal to the upper limit of the project acceptance tolerance? When all single-node forming deviations All are less than or equal to the upper limit of the project acceptance tolerance. At that time, the forming verification recording module determines that the overall positioning and connection process of the inclined facade curtain wall panels is qualified. The forming verification recording module summarizes the coordinate data obtained by the spatial pose measuring instrument and the force data recorded by the axial force sensor, generates a closed-loop verification file, and transmits it to the building information model database for archiving via a communication network. For the global mapping of structural spatial coordinates and data point cloud registration, those skilled in the art can use the iterative nearest point algorithm to achieve this. Its three-dimensional point cloud registration is a well-known technology in this field and will not be described in detail here.

[0232] Step S630: The forming verification and recording module performs a dimensional verification of the edge seam width. The spatial pose measuring instrument scans the perimeter seam area of ​​the inclined facade curtain wall panel to obtain the first... The actual seam width of each edge feature point The forming verification record module reads the theoretical standard seam width from the preset plate attribute database. Calculate the seam width deviation The calculation formula is as follows:

[0233] ;

[0234] in, This is for seam width deviation; For the first The actual seam width of each edge feature point; This is the theoretical standard seam width.

[0235] The forming verification record module reads the pre-set seam tolerance threshold from the engineering acceptance standard library. Compare all seam width deviations Are all less than or equal to the seam tolerance threshold? If there is a seam width deviation Greater than the seam tolerance threshold The forming verification and recording module outputs an alarm signal for excessive seam dimensions.

[0236] Step S640: The forming verification recording module performs facade line smoothness verification. Based on the edge point cloud data acquired by the spatial pose measuring instrument, the forming verification recording module calculates the normal height difference between the inclined facade curtain wall panels and adjacent panels. The spatial pose measuring instrument acquires the first... The surface three-dimensional coordinates of each edge feature point and the corresponding surface coordinates of adjacent plates The forming verification and recording module extracts the design normal vectors of the inclined facade curtain wall panels from the 3D environment model data. Calculate the ride comfort deviation The calculation formula is as follows:

[0237] ;

[0238] in: For smoothness deviation; To design the normal vector; For the first The surface three-dimensional coordinates of each edge feature point; These are the coordinates of the corresponding adjacent plate surfaces.

[0239] The forming verification record module reads the preset smoothness tolerance threshold from the engineering acceptance standard library. Compare all smoothness deviations Are all less than or equal to the smoothness tolerance threshold? If there is a smoothness deviation Greater than the smoothness tolerance threshold The forming verification and recording module outputs a linear misalignment alarm signal.

[0240] Step S650: The forming verification and recording module performs data encapsulation and handover tracking. When all seam width deviations... All are less than or equal to the seam tolerance threshold. And all smoothness deviations All are less than or equal to the smoothness tolerance threshold. At that time, the forming verification record module determines that the appearance line shape verification has passed. The forming verification record module extracts the closed-loop verification file generated in the global forming closed-loop verification stage and includes the seam width deviation in the above verification process. Smoothness deviation This data is then appended to the closed-loop verification file. To ensure data traceability and authenticity, the forming verification record module calculates a feature digest of the updated closed-loop verification file using a hash algorithm (e.g., SHA-256), generates a data fingerprint, and adds the current system timestamp. The forming verification record module uploads the closed-loop verification file containing the data fingerprint and timestamp to the main server of the Building Information Modeling (BIM) database for archiving via a communication network, completing all installation and acceptance procedures for the inclined facade curtain wall panels. For the encryption and distributed storage of multi-source construction data, those skilled in the art can use blockchain decentralized storage technology. Its electronic data tamper-proofing and solidification is a well-known technology in the field and will not be elaborated upon here.

[0241] The following is a specific application example provided by the present invention:

[0242] The application scenario of this embodiment is the construction of a sloping exterior curtain wall for a large convention center. The object to be installed is a panel measuring 4.5m × 3.2m and weighing [weight missing]. The glass curtain wall panel is a 1500kg inverted trapezoidal shape, and the target installation plane is tilted outward at 15°.

[0243] The specific implementation process includes:

[0244] S100 Classification and Preparation:

[0245] The data processing and fractal module reads the 3D mesh data of the plate and extracts the boundary length and mass. With respect to theoretical barycentric coordinates Theoretical geometric center coordinates and the diagonal length of the smallest 3D bounding box Calculations show that its center of gravity deviates from the theoretical geometric center by 120mm, which is based on the formula... Calculated centroid offset eigenvalues Greater than the preset center of gravity offset threshold (50mm), and is a non-standard quadrilateral. The system classifies it as an irregularly shaped plate set. Assign an alignment reference strategy with the centroid normal as the rotation axis, and set an upper limit for position tolerance. It is 3.0mm.

[0246] S200 attitude pre-control:

[0247] The lifting equipment hoisted the plate to a height of 10m above the ground, and the attitude pre-control module calculated the gravity vector acting on it. The system establishes a set of static equilibrium equations for the suspended state. It receives feedback from the spatial pose measurement instrument and detects an initial surface tilt angle of 0° (vertical suspension). The attitude pre-control module then uses the formula... Calculate the current attitude angle deviation. The angle is set to 15°, and then angular displacement control signals are sent to the four adjustable lifting devices. The winches then wind up and unwind the corresponding lengths of wire rope, causing the plate to rotate smoothly in mid-air to a 15° tilt angle, and within the set time window, it rotates according to the formula. Calculated attitude fluctuation eigenvalues Hardware mechanical locking is applied when the angle is less than 0.5°.

[0248] S300 corner mounting:

[0249] The plate moves at the set maximum permissible translation speed. Approaching the target mounting plane at a speed of (0.4 m / s). The positioning motion control module calculates the remaining approach distance. When the remaining approach distance Less than the preset deceleration buffer distance At (2.0m), the system uses the segmented speed control function. Automatically reduce drive speed command The upper right corner of the plate (prioritizing adjacent edges and corners) contacts the main structure, and the contact sensing component measures the normal contact force. Reaching the set initial contact force threshold (400N). The lifting equipment stops moving, and this contact point is locked as a temporary hinge reference point. Then, adjust the remaining sling guides at the lower left and lower right corners to rotate and align until the normal contact force of all nodes is reached. All reach 400N, resulting in the largest global position deviation. satisfy .

[0250] S400 Temporary Limit and Transfer:

[0251] Four temporary limiting steel components are installed at the designated nodes and energized for locking. The lifting equipment slowly releases the slings, and the limiting force monitoring module detects the real-time pull-out force of these four temporary limiting steel components. Gradually increasing, current real-time anti-overturning moment With gravity overturning moment The absolute value of the difference is less than the preset torque balance tolerance. Confirm the system is stable and according to the formula... Calculated pull-out force fluctuation range When the load is less than 50N, the lifting equipment will completely disengage and disconnect.

[0252] S500 Sequence Fastening:

[0253] The final connection coordination module calculates the topology center distance of each node based on its distance from the centroid. This generates a disturbance-resistant locking sequence that is tightened sequentially from the inside out. The intelligent torque wrench applies torque sequentially. When tightening edge nodes, the spatial pose measurement instrument detects dynamic disturbance deviations. Reaching 2.5mm (close to the dynamic disturbance tolerance threshold) (3.0mm), the system issues a short pause command, and resumes tightening only after the stress is released and the deviation returns to 1.0mm. Upon completion, all real-time pull-out forces... All are less than or equal to the zero-point force threshold. At that time, the temporary limiting steel component was retracted and the restraint was released.

[0254] S600 Review Record:

[0255] The system extracts the final spatial coordinates of the final node. The actual seam width was calculated. seam width compared to theoretical standard seam width deviation The average value is 1.1 mm, and the facade smoothness deviation is... The maximum value is 1.3mm, all of which are far below the upper limit of the engineering acceptance tolerance. The forming verification and recording module encapsulates the above data and the stress curve, calculates the feature summary, generates a SHA-256 data fingerprint and a system timestamp, and uploads it to the Building Information Modeling (BIM) database.

[0256] Experimental verification and effect comparison:

[0257] To verify the actual technical effect of the present invention, a comparative experiment was conducted within the same engineering section. Sixty inclined facade curtain wall panels of similar specifications were selected and randomly divided into a control group (30 panels) and an experimental group (30 panels). The control group used a traditional construction method combining conventional crane hoisting with manual chain hoisting and manual random fastening; the experimental group used the adaptive installation and stress control method for inclined curtain wall panels based on feature classification provided by the present invention.

[0258] The statistical data of the key indicators collected in the experiment are shown in Table 1.

[0259] Table 1. Comparison of construction effects between traditional construction methods and the construction method of this invention.

[0260]

[0261] in conclusion:

[0262] Regarding installation time, such as Figure 2 (a) As shown in the subgraph of average installation time per panel, the control group had a longer installation time of 48.5 minutes per panel because manual pulling and adjusting made it difficult to align the target angle at once, requiring repeated lifting and trial assembly operations. The experimental group, through system calculation and execution of adaptive correction of suspended attitude and corner guidance, directly bypassed the repeated manual trial and error process, shortening the installation cycle of a single panel to only 22.3 minutes.

[0263] Regarding collision interference indicators, such as Figure 2 (b) As shown in the subplot of cumulative collision counts, the control group experienced 14 collisions, mainly concentrated in the forced alignment phase when the tilt angles were not fully aligned. The experimental group established a segmented velocity control model based on the remaining approximation distance, combined with a closed-loop adjustment of the motion trajectory using a contact force feedback mechanism, achieving smooth contact between the plate and the main structure, with zero cumulative positioning interferences.

[0264] Regarding the quality of facade forming, such as Figure 3 (a) Maximum deviation of seam width and Figure 3 (b) As shown in the sub-figure of the maximum misalignment deviation, the control group used random connections and disordered fastening, resulting in residual stress concentration at the structural nodes. When the temporary supports were removed, the stress release caused the panels to experience slight spatial rebound, causing the joint width deviation of 3.8mm and the misalignment deviation of 4.1mm to exceed the design acceptance standards. The experimental group adopted a load smooth transfer mechanism and strictly followed the anti-disturbance locking sequence for fastening, avoiding the superposition of local deformations. The final joint width deviation of 1.4mm and the misalignment deviation of 1.2mm were both strictly controlled within 1.5mm.

[0265] Test data and comparative figures show that the solution of the present invention can reduce the installation deviation and positioning collision risk of inclined facade curtain wall panels, ensure the mechanical stability of the panels during the transition from temporary support to permanent consolidation, and improve overall work efficiency and the smoothness of the facade formation.

[0266] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A method for adaptive installation and stress control of tilted curtain wall panels based on feature classification, characterized in that, Includes the following steps: Extract the boundary features and centroid coordinates of the inclined facade curtain wall panels for classification, and assign target installation surface parameters and preset installation references to the target installation area based on the classification results; The inclined facade curtain wall panel is lifted and suspended in the air by a lifting device. Real-time tilt angle data is received from the spatial posture measuring instrument. The tension of each lifting point of the adjustable lifting device is adjusted so that the current attitude angle deviation between the self-surface normal vector of the inclined facade curtain wall panel and the target surface normal vector corresponding to the target installation surface parameter is less than or equal to the angle tolerance threshold. Control the inclined facade curtain wall panel to move towards the main structure, so that the main control corner of the inclined facade curtain wall panel contacts the alignment reference point corresponding to the preset installation reference, forming a temporary hinge, and guide the other corners to converge based on the temporary hinge, until the entire inclined facade curtain wall panel reaches the preset coordinate range limited by the upper limit of the position tolerance. After the inclined facade curtain wall panel reaches the preset coordinate range, a temporary limiting steel component is installed, and the gravity load of the inclined facade curtain wall panel is transferred to the temporary limiting steel component to establish a static force system. While maintaining the static load-bearing system, the fastening operation of the connectors is performed according to the anti-disturbance locking sequence, and after the fastening is completed, the structural constraints of the temporary limiting steel member are released, and the inclined facade curtain wall panel is fixed to the main structure. The spatial pose measuring instrument collects the edge node coordinates of adjacent inclined facade curtain wall panels, extracts the joint width value and facade coplanarity data, and compares them with the preset acceptance tolerance threshold to determine the completion conditions of the process.

2. The adaptive installation and stress control method for inclined curtain wall panels based on feature classification according to claim 1, characterized in that, The steps for extracting the boundary features and centroid coordinates of the inclined facade curtain wall panels for classification include: Read the previous detailed design model data to obtain a model file containing building information model data files, computer-aided design 3D model files, and 3D mesh data sets. Extract the top edge length, bottom edge length, side edge length, and preset installation corner point feature data of the inclined facade curtain wall panel as basic boundary geometric information, and extract the theoretical centroid coordinate P of the inclined facade curtain wall panel. c ; Based on the basic boundary geometry information, the minimum three-dimensional bounding box of the inclined facade curtain wall panel is established, and the theoretical geometric center coordinates P are extracted. geo By comparing the spatial deviation between the theoretical centroid coordinates and the theoretical geometric center coordinates, a centroid offset characteristic value η is generated, calculated using the following formula: ； Among them, L diag The diagonal length of the minimum three-dimensional bounding box; Define key control corners within the target installation area. Based on the spatial coordinates of these key control corners, use the least squares method to fit and generate a theoretical reference plane. Then, obtain the maximum distance Δh between the spatial coordinates of the key control corners and the theoretical reference plane. max Based on this, the flatness characteristic value ρ is generated, and the calculation formula is as follows: ； The flatness feature value ρ is compared with the preset flatness threshold ρ. th The comparison is performed, and the center of gravity offset feature value η is compared with the preset center of gravity offset threshold η. th Perform a comparison; When ρ≤ρ th η≤η th Furthermore, when the number of key control corners K=4, the inclined facade curtain wall panels are classified into the standard panel set E. std ; When ρ>ρ th η≤η th Furthermore, when the number of key control corners K=4, the inclined facade curtain wall panels are classified into the deformable panel set E. def ; When η>η th If the number of key control corners K≠4, the inclined facade curtain wall panel is classified into the irregular panel set E. spc .

3. The adaptive installation and stress control method for inclined curtain wall panels based on feature classification according to claim 1, characterized in that, The steps for assigning target mounting surface parameters to the preset mounting reference include: Extract the 3D mesh data of the target installation interface, and define the target surface normal vector corresponding to the target installation interface in the global construction coordinate system. , as the target mounting surface parameter; Define key control corners in the target installation area, and extract the target reference coordinates corresponding to the key control corners as the preset installation reference. For those classified into the standard plate set E std The inclined facade curtain wall panel assigns the preset installation reference to the four corner points and calls the target installation surface parameters to generate a reference strategy for synchronous spatial alignment of the four corners; For those classified into the deformable plate set E def The inclined facade curtain wall panel assigns the preset installation reference to the top edge node and calls the target installation surface parameters to generate a reference strategy in which the top edge makes priority contact and applies normal thrust to close the bottom edge. For those classified into the irregular plate set E spc The inclined facade curtain wall panel calls the target mounting surface parameters to generate an alignment benchmark strategy that uses the center of gravity normal as the rotation axis and assigns weights according to the reciprocal of the distance from each corner to the center of gravity normal.

4. The adaptive installation and stress control method for inclined curtain wall panels based on feature classification according to claim 1, characterized in that, Before lifting and suspending the inclined facade curtain wall panels using lifting equipment, the following steps are also included: Extract the node center coordinates P of the formal connection nodes on the main structure. conn,l , where l is the index of the formally connected node; Based on the node center coordinates and the maximum outer dimensions of the corresponding formal connecting components, anti-interference bounding sphere data is generated with the node center coordinates as the center to define the installation space of the formal connecting components. Preliminary installation coordinates P for the temporary support stress points are initially assigned within the target installation plane. lim,j , where j is the index of the temporary support stress point; To avoid interference between the temporary support stress point and the installation work space, the preset installation coordinates and the node center coordinates are checked using spatial Euclidean distance, and the distance data Δd is calculated. jl The calculation formula is: ； The distance data Δd jl With respect to the preset spatial anti-interference safety distance threshold D safe A comparison is made to determine whether the space avoidance conditions are met; When any Δd exists jl <D safe When spatial interference is detected, the tangential direction of the target mounting plane at the current position is extracted, and the preset mounting coordinates P are controlled. lim,j The system moves along the tangential direction with a preset translation step size Δs, and iteratively updates the coordinate data until all temporary support stress points satisfy Δd. jl ≥D safe Based on the spatial avoidance conditions, the final preset installation coordinates are locked.

5. The adaptive installation and stress control method for inclined curtain wall panels based on feature-based fractal analysis according to claim 1, characterized in that, The step of adjusting the tension of each lifting point of the adjustable hanger to match the posture of the inclined facade curtain wall panel with the target mounting surface parameters includes: Obtain the target surface normal vector based on the target mounting surface parameters. Based on the real-time tilt angle data fed back by the spatial pose measuring instrument, the self-surface normal vector of the tilted facade curtain wall panel is updated. ; Calculate the normal vector of the self-face. With the target surface normal vector The spatial angle between them, as the current attitude angle deviation Δθ, is calculated using the following formula: ； With the adjustable lifting device's suspension length l i As an independent control variable, based on the rigid body space rotation constraint relationship, the length adjustment variable Δl corresponding to each suspension point is solved to make the current attitude angle deviation Δθ approach zero. i And based on the mechanical transmission ratio of the internal transmission mechanism of the adjustable lifting device, the length adjustment variable Δl is adjusted. i This is converted into the angular displacement control signal of the lower-level drive motor, where i is the lifting point index; The adjustable hoist outputs a mechanical action command containing the angular displacement control signal, driving the corresponding ropes to perform retraction and extension actions to change the tension at each hoisting point. This causes the inclined facade curtain wall panel to revolve around its theoretical center of gravity P under the combined action of a redistributed traction field and a constant gravity field. c Spatial rotation; During the spatial rotation process, the spatial coordinates of the inclined facade curtain wall panel are continuously acquired at a preset sampling frequency, and the current attitude angle deviation Δθ is updated in real time. Within a time window containing a preset number of continuous sampling periods, a set of continuous deviation sequence data is recorded, and the attitude fluctuation characteristic value δθ is calculated. The calculation formula is as follows: ； Where, Δθ max and Δθ min These are the maximum and minimum values ​​of the current attitude angle deviation within the time window, respectively. When |Δθ|≤θ th And δθ≤δ th At that time, a locking control signal is output, triggering the rigid constraint of the lower mechanism inside the adjustable lifting device, thus locking the current suspension length l. i And determine that the posture of the inclined facade curtain wall panel matches the target mounting surface parameters, where θ th δ is the preset angle tolerance threshold. th This is the preset fluctuation tolerance threshold.

6. The adaptive installation and stress control method for inclined curtain wall panels based on feature classification according to claim 1, characterized in that, The steps of controlling the inclined facade curtain wall panel to move towards the main structure, so that the main control corner of the inclined facade curtain wall panel contacts the alignment reference point corresponding to the preset installation reference, include: Based on the allocated preset installation benchmark, the target corner to be prioritized for positioning is determined as the main control corner, the real-time spatial coordinates of the main control corner are obtained, and the coordinates of the corresponding target node on the main structure are extracted as the alignment benchmark point. Based on the spatial position difference between the real-time spatial coordinates and the alignment reference point, a positioning guidance direction vector pointing towards the main structure is generated. And calculate the current remaining approximation distance D between the main control corner and the alignment reference point. rem ; Based on the current remaining approximation distance D rem Establish a segmented speed control function to output the real-time drive speed command v. cmd The segmented speed control function is: ； Among them, v max D represents the maximum permissible translational speed of the lifting equipment. buf The preset deceleration buffer distance, This is the preset upper limit of the position tolerance; The drive speed command v cmd With the positioning guide direction vector The velocity vector is synthesized into a three-dimensional velocity vector and decomposed into the underlying control signal of the lifting equipment, which drives the inclined facade curtain wall panel to move towards the main structure along the positioning guide direction vector; During the movement toward the main structure, the three-dimensional contact force vector of the contact sensing component located at the main control corner is collected in real time at a preset sampling frequency. And extract the normal vector of the target surface. Calculate the normal contact force F norm The calculation formula is: ； When the normal contact component F norm Greater than or equal to the preset initial contact force threshold F th When the main control corner has reached and contacted the alignment reference point, a stop approach command is output to the lifting equipment to complete the current physical contact action.

7. The adaptive installation and stress control method for inclined curtain wall panels based on feature classification according to claim 6, characterized in that, The steps to guide the remaining edges and corners to converge until they reach the preset coordinate range include: After the main control corner and the alignment reference point make physical contact, the contact position between the main control corner and the alignment reference point is set as a temporary hinge reference point. By outputting a local locking command to the temporary limiting steel member arranged at the corner, the translational degree of freedom of the inclined facade curtain wall panel at the contact position is constrained, while its rotational degree of freedom is preserved. Extract the three-dimensional coordinates of the unaligned corners on the inclined facade curtain wall panels; Output coordinated control commands to the adjustable hoist, keep the length of the slings on the side closer to the temporary hinge reference point unchanged, and simultaneously increase the suspension length of the slings on the side farther away, guide the inclined facade curtain wall panel to rotate around the temporary hinge reference point under the action of gravity, drive the unaligned corner to converge along the target direction until it reaches the preset coordinate range limited by the position tolerance upper limit; During the convergence process of the non-aligned corner, the normal contact force at all formal connection nodes is collected in real time at a preset sampling frequency. When the normal contact force at all formal connection nodes is greater than or equal to the preset initial contact force threshold F, the convergence process is complete. th When the inclined facade curtain wall panel is determined to be in place, a stop adjustment command is sent to the adjustable hoist to interrupt the release or rotation adjustment of the rope length and complete the position alignment.

8. The adaptive installation and stress control method for inclined curtain wall panels based on feature classification according to claim 1, characterized in that, The steps of installing temporary limiting steel components after reaching the preset coordinate range and transferring the gravity load to the temporary limiting steel components to establish a static force system include: After the inclined facade curtain wall panel reaches the preset coordinate range, the installation node coordinate P is... lim,j Insert the temporary limiting steel member and apply a tension force to the temporary limiting steel member to a preset initial preload threshold to eliminate mechanical connection gaps, where j is the index of the temporary limiting steel member and M is the total number of temporary limiting steel members; Output gradient slack command to the lifting equipment and the adjustable spreader, control the main hoisting winch to release the sling at a preset low speed at a uniform speed, and control the adjustable spreader to increase the suspension length synchronously. As the tension of the slings decreases, the gravitational load of the inclined facade curtain wall panel is gradually transferred to the temporary limiting steel member. The real-time pull-out force F at the temporary limiting steel member is collected in real time at a preset sampling frequency. real,j And the tension of the slings on the built-in force gauge of the lifting equipment, and calculate the current real-time anti-overturning moment M. current The calculation formula is: ； Among them, h j Let P be the coordinates of the installation node of the j-th temporary limiting steel component. lim,j The vertical force arm of the assumed overturning rotation axis; The current real-time anti-overturning moment M current With gravity overturning moment M over Compare the results when |M current- M over ∣< Furthermore, when the tension of the sling drops below the pre-decoupling threshold obtained from the system database, a decoupling command is sent to the adjustable lifting device, controlling its lower actuator to disconnect the mechanical shackles connected to the inclined facade curtain wall panel, completing the transfer of the gravity load and establishing the static force system independently supported by the temporary limiting steel component, wherein... This is the preset torque balance tolerance.

9. The adaptive installation and stress control method for inclined curtain wall panels based on feature classification according to claim 1, characterized in that, The steps of performing fastening operations on the connectors while maintaining the static load-bearing system, releasing the structural constraints of the temporary limiting steel members, and fixing the inclined facade curtain wall panels to the main structure include: While maintaining the static load-bearing system, extract the theoretical target coordinates P of the formal connection node between the inclined facade curtain wall panel and the main structure. target,l And read the theoretical centroid coordinates P of the inclined facade curtain wall panel from the preset panel attribute database. c , where l is the index of the formal connected node, and the total number of formal connected nodes is L; Calculate the node topology center distance D of each of the formally connected nodes. topo,l The calculation formula is: ； The distance D between the node topology centers of all the formally connected nodes topo,l Arrange them in ascending order from smallest to largest to generate an anti-disturbance locking sequence Ψlock; According to the aforementioned anti-disturbance locking sequence Ψ lock The sorting results are sent to the working equipment level by level via the field communication bus to execute the fastening operation of the connecting parts at the corresponding nodes; During the fastening operation, the spatial position measuring instrument scans the real-time spatial coordinates P of the nodes that have not yet been fastened. rt,q And extract the static spatial coordinates P of the uninterrupted state recorded after decoupling from the system's historical pose cache. static,q Calculate the dynamic disturbance deviation ΔP dyn,q The calculation formula is: ； Where q is the index of the unfixed node; The dynamic disturbance deviation ΔP dyn,q Compared with the preset dynamic disturbance tolerance threshold read from the system parameter library Perform real-time comparison, when ΔP dyn,q > When the operation is stopped, a work stop command is sent to the working equipment to suspend the current welding or pre-tightening action and wait for the local deformation stress to be released until the dynamic disturbance deviation ΔP is reached. dyn,q ≤ At that time, a resumption operation instruction was issued; When the anti-disturbance locking sequence Ψ lock The permanent connection operation is considered complete when all the formal connection nodes included in the process have returned a completion signal. An unlocking and retraction command is issued to the temporary limiting steel component, controlling the electromagnetic pin inside to be de-energized and pulled out, and the servo motor in the nut screw adjustment mechanism to reverse and drive the screw to retract, thereby releasing the structural constraint of the temporary limiting steel component and fixing the inclined facade curtain wall panel to the main structure.

10. The adaptive installation and stress control method for inclined curtain wall panels based on feature classification according to claim 1, characterized in that, The steps for determining the completion conditions of the process by extracting the seam width value and the coplanarity data of the facade include: The spatial pose measuring instrument is invoked to scan the surrounding seam area to obtain the actual seam width W of the u-th edge feature point. real,u ; Read the theoretical standard seam width W from the preset plate attribute database. std Calculate the seam width deviation W between the actual seam width and the theoretical standard seam width. err,u The calculation formula for the seam width value is as follows: ； Obtain the surface three-dimensional coordinates P of the edge feature points. surf,u and the corresponding surface coordinates P of the adjacent plate adj,u The design normal vectors of the inclined facade curtain wall panels are extracted from the three-dimensional environment model data. Calculate the ride comfort deviation H dev,u The coplanarity data of the facade is calculated using the following formula: ； Read the joint tolerance threshold from the preset engineering acceptance standard library. Smoothness tolerance threshold The seam width deviation W err,u The smoothness deviation H is compared with the seam tolerance threshold and the smoothness deviation H is calculated accordingly. dev,u Compare with the smoothness tolerance threshold; When the slit width deviation W corresponding to all edge feature points err,u ≤ And the smoothness deviation H corresponding to all edge feature points dev,u ≤ At that time, it is determined that the appearance and line shape verification has passed, and the completion condition of the process has been met; After the process completion conditions are met, the seam width deviation W is... err,u With the smoothness deviation H dev,u The updated closed-loop review file is attached to the data fingerprint, and a feature digest is calculated using a hash algorithm. The data fingerprint is then added with the current system timestamp and uploaded to the main server of the Building Information Modeling (BIM) database for archiving.

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