Research on Intelligent Hoisting System for Prefabricated Wall Panels Based on Multimodal Perception and Collaborative Control

To address the issues of excessive manual intervention， difficulty in posture adjustment， and low precision during the hoisting process of prefabricated building wall panels， a collaborative control method integrating intelligent hooks， self-balancing lifting beams， and machine vision is proposed. An intelligent hook coupling a magnetic adsorption positioning mechanism with a two-stage gear reduction mechanism is designed to achieve automatic hooking and unhooking of lifting rings. A self-balancing adjustable three-point lifting beam based on ball screws is developed， employing a posture sensor-PID closed-loop control strategy to enable continuous tilt angle adjustment within the range of 0.5° to 15°. A binocular vision-embedded fusion recognition system is constructed， utilizing a geometric contour matching algorithm to achieve 3D feature reconstruction of wall panels. Through 200 sample tests， the type recognition accuracy reached 98.2%. The system integrates LoRa wireless communication and a modular architecture. Engineering tests demonstrate that the entire hoisting process for typical wall panels is reduced to 62.4% of the time required by traditional methods， providing an efficient and highly reliable solution for automation in prefabricated building construction.