Embedded part detection system of modular building structure

Abstract

The utility model relates to an embedded part detection system of a modularized building structure. The embedded part detection system comprises a camera, a visual controller, a PLC, a three-axis mobile platform and a three-phase five-wire system AC power supply. The camera is connected with the visual controller; the PLC is connected with the visual controller and the three-axis moving platform. The three-axis moving platform comprises a mounting mechanism for fixing a camera, and an X-axis driving assembly, a Y-axis driving assembly and a Z-axis driving assembly which are respectively connected with the mounting mechanism; the three-phase five-wire system alternating current power supply is connected with the visual controller and the PLC through the single-phase power supply loop, and the three-phase five-wire system alternating current power supply is connected with the three-axis mobile platform through the single-phase power supply loop and the three-phase power supply loop. The embedded part detection system has the advantages that visualization of the embedded part at any angle can be achieved, intelligent installation and detection of the embedded part are achieved, and the embedded part detection system further has high safety and power supply efficiency.

Description

Technical Field

[0001] This utility model relates to the field of building inspection technology, and in particular to a pre-embedded component inspection system for modular building structures. Background Technology

[0002] Embedded components are key parts for connecting and securing various modular building structures. They ensure that after hoisting and connection, the various modular building structures can form a stable and robust overall structure. Because modular building structures require a high degree of modularity and standardization, the precision requirements for embedded components are extremely high. This necessitates that the position, size, and shape of the embedded components be manufactured and installed strictly according to design requirements to ensure precise docking and connection between the various modular building structures.

[0003] In the production process of modular building structures, after the embedded parts are installed, it is unknown whether the installation of the embedded parts is correct, thus requiring inspection. Currently, traditional embedded part inspection mainly relies on manual inspection. However, manual inspection of embedded parts in the production process of modular building structures is labor-intensive and poses safety hazards. Furthermore, relying on manual inspection is not only inefficient but also prone to errors, which can seriously affect the production progress of modular building structures.

[0004] Therefore, there is an urgent need for an embedded part detection system that enables intelligent detection of embedded parts in modular building structures. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a pre-embedded component detection system for modular building structures, which solves the technical problem that the prior art cannot intelligently realize the detection of pre-embedded components on modular building structures.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0009] This utility model provides a modular building structure embedded part detection system, including: a camera, a vision controller, a PLC, a three-axis moving platform, and a three-phase five-wire AC power supply;

[0010] The camera is connected to the vision controller;

[0011] The PLC is connected to the vision controller and the three-axis motion platform respectively;

[0012] The three-axis moving platform includes a mounting mechanism for fixing the camera, and an X-axis drive assembly, a Y-axis drive assembly, and a Z-axis drive assembly respectively connected to the mounting mechanism;

[0013] The three-phase five-wire AC power supply is connected to the vision controller and PLC respectively through a single-phase power supply circuit. The three-phase five-wire AC power supply is also connected to the three-axis moving platform through a single-phase power supply circuit and a three-phase power supply circuit.

[0014] Optionally, it includes: a host computer, a switch, and a display and control panel;

[0015] The switch is installed on the connection line between the PLC and the vision controller, and the switch is connected to both the PLC and the vision controller.

[0016] The host computer includes a display screen and an industrial computer. The display screen is connected to the industrial computer, and the industrial computer is connected to the PLC and vision controller respectively through a switch.

[0017] The display and control panel includes a touch screen and physical buttons, both of which are connected to the host computer, PLC, and vision controller via switches.

[0018] Optionally, the driving directions of the X-axis drive assembly and the Y-axis drive assembly are both horizontal and the angle between the driving directions is 90°, while the driving direction of the Z-axis drive assembly is vertical.

[0019] The X-axis drive assembly includes an X-axis drive motor and an X-axis servo driver. The X-axis drive motor is connected to the mounting mechanism, and the X-axis drive motor is connected to the X-axis servo driver.

[0020] The Y-axis drive assembly includes a Y-axis drive motor and a Y-axis servo driver. The Y-axis drive motor is connected to the mounting mechanism, and the Y-axis drive motor is connected to the Y-axis servo driver.

[0021] The Z-axis drive assembly includes a Z-axis drive motor and a Z-axis servo driver. The Z-axis drive motor is connected to the mounting mechanism, and the Z-axis drive motor is connected to the Z-axis servo driver.

[0022] Optionally, the mounting mechanism includes: a support platform and camera mounting positions, X-axis drive positions, Y-axis drive positions and Z-axis drive positions disposed on the support platform;

[0023] The X-axis drive position is connected to the X-axis drive motor;

[0024] The Y-axis drive position is connected to the Y-axis drive motor;

[0025] The Z-axis drive position is connected to the Z-axis drive motor.

[0026] Optionally, the three-axis moving platform also includes: a motor brake assembly and a position sensor;

[0027] The motor brake assembly is mounted on the Z-axis drive motor and is connected to the Z-axis servo driver.

[0028] The position sensors are positioned within the movement range of the three-axis moving platform and are connected to the X-axis servo driver, Y-axis servo driver, and Z-axis servo driver, respectively.

[0029] Optionally, the motor brake assembly includes: a motor brake device and a relay;

[0030] The motor brake device is installed on the Z-axis drive motor;

[0031] The relay contacts are connected to the motor brake device and the external power supply, respectively, and the relay control terminal is connected to the Z-axis servo driver.

[0032] Optionally, the position sensor includes: an X-axis positive limit sensor, an X-axis negative limit sensor, an X-axis origin sensor, a Y-axis positive limit sensor, a Y-axis negative limit sensor, a Y-axis origin sensor, a Z-axis positive limit sensor, a Z-axis negative limit sensor, and a Z-axis origin sensor;

[0033] The X-axis positive limit sensor, X-axis negative limit sensor, and X-axis origin sensor are all connected to the X-axis servo driver.

[0034] The Y-axis positive limit sensor, Y-axis negative limit sensor, and Y-axis origin sensor are all connected to the Y-axis servo driver.

[0035] The Z-axis positive limit sensor, Z-axis negative limit sensor, and Z-axis origin sensor are all connected to the Z-axis servo driver.

[0036] Optionally, a three-phase five-wire AC power supply includes: a U-phase wire, a V-phase wire, a W-phase wire, a neutral wire, and a ground wire;

[0037] The U-phase line, V-phase line, W-phase line and ground line together form a three-phase power supply circuit, which is connected to the X-axis drive motor, Y-axis drive motor and Z-axis drive motor respectively.

[0038] The U-phase line, neutral line, and ground line together constitute the first single-phase power supply circuit, which is connected to the host computer and the vision controller respectively.

[0039] The V-phase line, neutral line and ground line together form the second single-phase power supply circuit. The second single-phase power supply circuit is connected to the PLC, switch and display control panel respectively through the set 24V switching power supply.

[0040] The W-phase line, neutral line, and ground line together form the third single-phase power supply circuit. The third single-phase power supply circuit is connected to the X-axis servo driver, Y-axis servo driver, and Z-axis servo driver respectively through a filter.

[0041] Alternatively, the vision controller can be configured as any one of an FPGA vision controller, a DSP vision controller, and an ASIC vision controller.

[0042] Optionally, the PLC and the three-axis moving platform are connected using the EtherCAT communication protocol, and the PLC and the vision controller are connected using the Ethernet communication protocol.

[0043] (III) Beneficial Effects

[0044] The beneficial effects of this utility model are as follows: This utility model provides a modular building structure embedded part inspection system, which employs a camera, a vision controller, a PLC, and a three-axis motion platform. The camera is mounted on the three-axis motion platform and connected to the vision controller, and the PLC connected to the three-axis motion platform is also connected to the vision controller. Compared with the prior art, this utility model can achieve visualization of embedded parts from any angle, realizing intelligent embedded part installation inspection.

[0045] Meanwhile, this utility model provides power to each device of the embedded part detection system through a single-phase power supply circuit and a three-phase power supply circuit of a three-phase five-wire AC power supply, thereby improving the safety and power supply efficiency of the detection system. Attached Figure Description

[0046] Figure 1 A schematic diagram of the composition of a modular building structure embedded part detection system provided in an embodiment of this utility model;

[0047] Figure 2 A schematic diagram of the X-axis drive assembly in a three-axis mobile platform provided in an embodiment of this utility model;

[0048] Figure 3 A schematic diagram of the composition of the Y-axis drive assembly in a three-axis mobile platform provided in an embodiment of this utility model;

[0049] Figure 4 A schematic diagram of the Z-axis drive assembly in a three-axis mobile platform provided in an embodiment of this utility model;

[0050] Figure 5 This is a power supply diagram of a pre-embedded component detection system for a modular building structure, provided as an embodiment of the present invention. Detailed Implementation

[0051] To better explain and facilitate understanding of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] refer to Figures 1-5As shown in the figure, the present invention proposes a modular building structure embedded part detection system, which includes: a camera, a vision controller, a PLC, a three-axis moving platform, and a three-phase five-wire AC power supply; the camera is connected to the vision controller; the PLC is connected to both the vision controller and the three-axis moving platform; the three-axis moving platform includes a mounting mechanism for fixing the camera, and X-axis drive components, Y-axis drive components, and Z-axis drive components connected to the mounting mechanism respectively; the three-phase five-wire AC power supply is connected to the vision controller and the PLC through a single-phase power supply circuit, and is also connected to the three-axis moving platform through a single-phase power supply circuit and a three-phase power supply circuit.

[0053] The embedded part inspection system for modular building structures proposed in this embodiment employs a camera, a vision controller, a PLC, and a three-axis motion platform. The camera is mounted on the three-axis motion platform and connected to the vision controller, and the PLC, connected to the three-axis motion platform, is also connected to the vision controller. Compared with existing technologies, this embodiment can achieve visualization of embedded parts from any angle, realizing intelligent embedded part installation inspection.

[0054] Meanwhile, this embodiment supplies power to each device of the embedded part detection system through a single-phase power supply circuit and a three-phase power supply circuit of a three-phase five-wire AC power supply, which improves the safety and power supply efficiency of the detection system.

[0055] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0056] refer to Figure 1 As shown in this embodiment, a modular building structure embedded part detection system is proposed, which includes: a camera, a vision controller, a PLC, a three-axis moving platform, a three-phase five-wire AC power supply, a host computer, a switch, and a display and control panel.

[0057] First, refer to Figure 1 As shown, the camera is connected to the vision controller. The camera is used to photograph the embedded parts of the modular building structure. The captured images can include images of the embedded parts to be inspected and images of the template on which the embedded parts are installed on the modular building structure. The images captured by the camera can be transmitted to the vision controller via wired or wireless data transmission. The data transmission is implemented using existing methods without any modifications to the transmission procedure.

[0058] Furthermore, the vision controller is preferably any one of an FPGA vision controller, a DSP vision controller, and an ASIC vision controller.

[0059] Secondly, refer to Figure 1 As shown, the PLC is connected to the vision controller and the three-axis moving platform respectively. By installing the camera on the three-axis moving platform, the embedded parts can be visualized at any angle, thereby realizing the intelligent detection of embedded parts on modular building structures.

[0060] Furthermore, the three-axis moving platform includes: a mounting mechanism, an X-axis drive assembly, a Y-axis drive assembly, a Z-axis drive assembly, a motor brake assembly, and a position sensor. The mounting mechanism is used to fix the camera and is connected to the X-axis, Y-axis, and Z-axis drive assemblies respectively; the motor brake assembly is mounted on the Z-axis drive assembly; the position sensor is located within the moving range of the three-axis moving platform and is connected to the X-axis, Y-axis, and Z-axis drive assemblies respectively. After the camera is mounted to the mounting mechanism, the X-axis, Y-axis, and Z-axis drive assemblies drive the mounting mechanism to move along three axes, thereby enabling the camera to capture images at any angle, thus achieving visualization of the embedded parts at any angle.

[0061] Further, refer to Figure 2 As shown, the X-axis drive assembly includes an X-axis drive motor and an X-axis servo driver. The X-axis drive motor is connected to the mounting mechanism. The power input terminal of the X-axis drive motor is connected to the three-phase power terminals (U, V, W, PE) of the X-axis servo driver via a power line. The encoder interface terminal of the X-axis drive motor is connected to the encoder signal input terminal (ENC) of the X-axis servo driver via an encoder cable. The X-axis drive assembly is used to drive the camera on the mounting mechanism to translate in the X-axis direction. (Reference) Figure 3 As shown, the Y-axis drive assembly includes a Y-axis drive motor and a Y-axis servo driver. The power input terminal of the Y-axis drive motor is connected to the three-phase power terminals (U, V, W, PE) of the Y-axis servo driver via a power line. The encoder interface terminal of the Y-axis drive motor is connected to the encoder signal input terminal (ENC) of the Y-axis servo driver via an encoder cable. The Y-axis drive assembly is used to drive the camera on the mounting mechanism to translate in the Y-axis direction. (Reference) Figure 4As shown, the Z-axis drive assembly includes a Z-axis drive motor and a Z-axis servo driver. The Z-axis drive motor is connected to the mounting mechanism. The power input terminal of the Z-axis drive motor is connected to the three-phase power terminals (U, V, W, PE) of the Z-axis servo driver via a power line. The encoder interface terminal of the Z-axis drive motor is connected to the encoder signal input terminal (ENC) of the Z-axis servo driver via an encoder cable. The Z-axis drive assembly is used to drive the camera on the mounting mechanism to move up and down in the Z-axis direction. The X-axis and Y-axis drive assemblies are driven horizontally with an included angle of 90°, while the Z-axis drive assembly is driven vertically.

[0062] Furthermore, the installation mechanism includes: a support platform and camera mounting positions, X-axis drive positions, Y-axis drive positions and Z-axis drive positions disposed on the support platform; the X-axis drive positions are connected to the X-axis drive motor; the Y-axis drive positions are connected to the Y-axis drive motor; and the Z-axis drive positions are connected to the Z-axis drive motor.

[0063] Further, refer to Figure 4 As shown, the motor brake assembly includes a motor brake device and a relay S1. The contacts of the relay S1 are connected to the motor brake device and an external power supply via brake lines, respectively. The control terminal of the relay is connected to the brake signal output terminals (BK+ and BK-) of the Z-axis servo drive via brake control lines.

[0064] Further, refer to Figures 2-4As shown, the position sensors include: an X-axis positive limit sensor, an X-axis negative limit sensor, an X-axis origin sensor, a Y-axis positive limit sensor, a Y-axis negative limit sensor, a Y-axis origin sensor, a Z-axis positive limit sensor, a Z-axis negative limit sensor, and a Z-axis origin sensor. The signal output terminal of the X-axis positive limit sensor is connected to the forward rotation inhibit drive signal terminal (P-OT) of the X-axis servo driver, the signal output terminal of the X-axis negative limit sensor is connected to the reverse rotation inhibit drive signal terminal (N-OT) of the X-axis servo driver, and the signal output terminal of the X-axis origin sensor is connected to the origin signal terminal (Home) of the X-axis servo driver. The X-axis positive limit sensor, the X-axis negative limit sensor, and the X-axis origin sensor are all located within the X-axis movement range of the three-axis moving platform, thereby enabling the acquisition of the position information of the three-axis moving platform on the X-axis. The signal output of the Y-axis positive limit sensor is connected to the forward rotation prohibition drive signal terminal (P-OT) of the Y-axis servo driver, the signal output of the Y-axis negative limit sensor is connected to the reverse rotation prohibition drive signal terminal (N-OT) of the Y-axis servo driver, and the signal output of the Y-axis origin sensor is connected to the origin signal terminal (Home) of the Y-axis servo driver. The Y-axis positive limit sensor, Y-axis negative limit sensor, and Y-axis origin sensor are all located within the Y-axis movement range of the three-axis moving platform, thus enabling the acquisition of the three-axis moving platform's position information on the Y-axis. Similarly, the signal output of the Z-axis positive limit sensor is connected to the forward rotation prohibition drive signal terminal (P-OT) of the Z-axis servo driver, the signal output of the Z-axis negative limit sensor is connected to the reverse rotation prohibition drive signal terminal (N-OT) of the Z-axis servo driver, and the signal output of the Z-axis origin sensor is connected to the origin signal terminal (Home) of the Z-axis servo driver. All three sensors are located within the Z-axis movement range of the three-axis moving platform, thus enabling the acquisition of the three-axis moving platform's position information on the Z-axis.

[0065] Also, see reference Figure 1 As shown, the switch is installed on the connection line between the PLC and the vision controller, and the switch is connected to both the PLC and the vision controller.

[0066] Then, refer to Figure 1 As shown, the host computer includes a display screen and an industrial control computer. The display screen is connected to the industrial control computer, and the industrial control computer is connected to the PLC and the vision controller through a switch.

[0067] Next, refer to Figure 1 As shown, the display and control panel includes a touch screen and physical buttons, both of which are connected to the host computer, PLC, and vision controller via switches.

[0068] Finally, the three-phase five-wire AC power supply is connected to the vision controller and PLC respectively through a single-phase power supply circuit, and the three-phase five-wire AC power supply is connected to the three-axis moving platform through a single-phase power supply circuit and a three-phase power supply circuit.

[0069] Further, refer to Figure 5 As shown, the three-phase five-wire AC power supply includes: U-phase line, V-phase line, W-phase line, neutral line, and ground line; the U-phase line, V-phase line, W-phase line, and ground line together form a three-phase power supply circuit, which is connected to the X-axis drive motor, Y-axis drive motor, and Z-axis drive motor respectively; the U-phase line, neutral line, and ground line together form a first single-phase power supply circuit, which is connected to the host computer and vision controller respectively; the V-phase line, neutral line, and ground line together form a second single-phase power supply circuit, which is connected to the PLC, switch, and display control panel respectively through a 24V switching power supply; the W-phase line, neutral line, and ground line together form a third single-phase power supply circuit, which is connected to the X-axis servo driver, Y-axis servo driver, and Z-axis servo driver respectively through a filter.

[0070] It is worth mentioning that the PLC and the three-axis moving platform are connected using the EtherCAT communication protocol, and the PLC and the vision controller are connected using the Ethernet communication protocol.

[0071] In summary, this utility model proposes a modular building structure embedded part inspection system, which employs a camera, a vision controller, a PLC, and a three-axis motion platform. The camera is mounted on the three-axis motion platform and connected to the vision controller, and the PLC, connected to the three-axis motion platform, is also connected to the vision controller. This system can visualize embedded parts from any angle, thus achieving intelligent embedded part installation inspection. Furthermore, this utility model uses both single-phase and three-phase power supply circuits of a three-phase five-wire AC power supply to power each device in the embedded part inspection system, improving the safety and power supply efficiency of the inspection system.

[0072] Those skilled in the art will understand that embodiments of this invention can be provided as methods, systems, or computer program products. Therefore, this invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0074] It should be noted that in the description of this utility model, the word "a" or "an" preceding a component does not exclude the existence of multiple such components. This utility model can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. The use of terms such as first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0075] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0076] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning of the basic inventive concept, can make other changes and modifications to these embodiments.

[0077] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope.

Claims

1. A pre-embedded component detection system for modular building structures, characterized in that, include: Camera, vision controller, PLC, three-axis motion platform, and three-phase five-wire AC power supply; The camera is connected to the vision controller; The PLC is connected to the vision controller and the three-axis motion platform respectively; The three-axis moving platform includes a mounting mechanism for fixing the camera, and an X-axis drive assembly, a Y-axis drive assembly, and a Z-axis drive assembly respectively connected to the mounting mechanism; The three-phase five-wire AC power supply is connected to the vision controller and PLC respectively through a single-phase power supply circuit. The three-phase five-wire AC power supply is also connected to the three-axis moving platform through a single-phase power supply circuit and a three-phase power supply circuit.

2. The embedded component detection system for modular building structures as described in claim 1, characterized in that, include: Host computer, switch, and display / control panel; The switch is installed on the connection line between the PLC and the vision controller, and the switch is connected to both the PLC and the vision controller. The host computer includes a display screen and an industrial computer. The display screen is connected to the industrial computer, and the industrial computer is connected to the PLC and vision controller respectively through a switch. The display and control panel includes a touch screen and physical buttons, both of which are connected to the host computer, PLC, and vision controller via switches.

3. The embedded component detection system for modular building structures as described in claim 2, characterized in that, The driving directions of the X-axis drive assembly and the Y-axis drive assembly are both horizontal and the angle between the driving directions is 90°, while the driving direction of the Z-axis drive assembly is vertical. The X-axis drive assembly includes an X-axis drive motor and an X-axis servo driver. The X-axis drive motor is connected to the mounting mechanism, and the X-axis drive motor is connected to the X-axis servo driver. The Y-axis drive assembly includes a Y-axis drive motor and a Y-axis servo driver. The Y-axis drive motor is connected to the mounting mechanism, and the Y-axis drive motor is connected to the Y-axis servo driver. The Z-axis drive assembly includes a Z-axis drive motor and a Z-axis servo driver. The Z-axis drive motor is connected to the mounting mechanism, and the Z-axis drive motor is connected to the Z-axis servo driver.

4. The embedded component detection system for modular building structures as described in claim 3, characterized in that, The mounting mechanism includes: a support platform and camera mounting positions, X-axis drive positions, Y-axis drive positions and Z-axis drive positions set on the support platform; The X-axis drive position is connected to the X-axis drive motor; The Y-axis drive position is connected to the Y-axis drive motor; The Z-axis drive position is connected to the Z-axis drive motor.

5. The embedded component detection system for modular building structures as described in claim 3, characterized in that, The three-axis mobile platform also includes: a motor brake assembly and a position sensor; The motor brake assembly is mounted on the Z-axis drive motor and is connected to the Z-axis servo driver. The position sensors are positioned within the movement range of the three-axis moving platform and are connected to the X-axis servo driver, Y-axis servo driver, and Z-axis servo driver, respectively.

6. The embedded component detection system for modular building structures as described in claim 5, characterized in that, The motor brake assembly includes: a motor brake device and a relay; The motor brake device is installed on the Z-axis drive motor; The relay contacts are connected to the motor brake device and the external power supply, respectively, and the relay control terminal is connected to the Z-axis servo driver.

7. The embedded component detection system for modular building structures as described in claim 5, characterized in that, The position sensors include: X-axis positive limit sensor, X-axis negative limit sensor, X-axis origin sensor, Y-axis positive limit sensor, Y-axis negative limit sensor, Y-axis origin sensor, Z-axis positive limit sensor, Z-axis negative limit sensor, and Z-axis origin sensor; The X-axis positive limit sensor, X-axis negative limit sensor, and X-axis origin sensor are all connected to the X-axis servo driver. The Y-axis positive limit sensor, Y-axis negative limit sensor, and Y-axis origin sensor are all connected to the Y-axis servo driver. The Z-axis positive limit sensor, Z-axis negative limit sensor, and Z-axis origin sensor are all connected to the Z-axis servo driver.

8. The embedded component detection system for modular building structures as described in claim 3, characterized in that, A three-phase five-wire AC power supply includes: U-phase wire, V-phase wire, W-phase wire, neutral wire, and ground wire; The U-phase line, V-phase line, W-phase line and ground line together form a three-phase power supply circuit, which is connected to the X-axis drive motor, Y-axis drive motor and Z-axis drive motor respectively. The U-phase line, neutral line, and ground line together constitute the first single-phase power supply circuit, which is connected to the host computer and the vision controller respectively. The V-phase line, neutral line and ground line together form the second single-phase power supply circuit. The second single-phase power supply circuit is connected to the PLC, switch and display control panel respectively through the set 24V switching power supply. The W-phase line, neutral line, and ground line together form the third single-phase power supply circuit. The third single-phase power supply circuit is connected to the X-axis servo driver, Y-axis servo driver, and Z-axis servo driver respectively through a filter.

9. The embedded component detection system for modular building structures as described in claim 1, characterized in that, The vision controller is configured as any one of an FPGA vision controller, a DSP vision controller, and an ASIC vision controller.

10. The embedded component detection system for modular building structures as described in claim 1, characterized in that, The PLC and the three-axis moving platform are connected using the EtherCAT communication protocol, and the PLC and the vision controller are connected using the Ethernet communication protocol.

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