Power transmission line tower body assembly positioning and hoisting attitude control method in desert environment

Abstract

The invention provides a power transmission line tower body assembly positioning and hoisting attitude control method in a desert environment, and relates to the technical field of power transmission engineering construction, and the method comprises the steps: obtaining power transmission line tower body structure parameters and desert environment parameters, the desert environment parameters comprise geological conditions, wind speed and wind direction; establishing a laser positioning reference system, wherein the laser positioning reference system comprises three laser emitting devices with angle and distance sensors; the tower body sections are assembled and positioned, space coordinates are established through laser marking projection, and the positions are corrected through a self-adaptive algorithm; installing an inertial measurement unit; establishing a hoisting attitude control system which comprises a main arm crane, an auxiliary crane and a tensioning device; in the hoisting process, the center-of-gravity offset is calculated based on the attitude data, and each device is controlled to realize attitude stabilization; and finally, curing materials are injected into the tower body foundation to complete installation.

Description

Technical Field

[0001] The present invention relates to the construction technology of transmission projects, and particularly to a method for assembling and positioning the tower body of a transmission line and controlling the hoisting attitude in a desert environment. Background Art

[0002] Traditional methods for installing the tower body of transmission lines face many challenges in a desert environment, such as complex geological conditions, harsh sandstorm environment, and difficult construction positioning, which seriously affect the construction quality and efficiency.

[0003] Currently, the commonly used methods for assembling and positioning the tower body mainly rely on manual measurement and empirical judgment, which are prone to cumulative errors, and it is difficult to ensure the measurement accuracy under bad weather conditions, increasing the construction risk.

[0004] Existing tower body hoisting technologies lack real-time attitude monitoring and dynamic regulation capabilities, and it is difficult to cope with frequent strong wind weather in desert areas, which is likely to cause potential safety hazards during the hoisting process. Summary of the Invention

[0005] Embodiments of the present invention provide a method for assembling and positioning the tower body of a transmission line and controlling the hoisting attitude in a desert environment, which can solve the problems in the prior art.

[0006] In the first aspect of the embodiments of the present invention, a method for assembling and positioning the tower body of a transmission line and controlling the hoisting attitude in a desert environment is provided, including: acquiring the tower body structure parameters and desert environment parameters of the transmission line tower body, where the tower body structure parameters include the tower body height, the position of the tower body center of gravity, and the connection structure dimensions of the tower body segments, and the desert environment parameters include geological conditions, wind speed, and wind direction; establishing a laser positioning reference system at the tower body assembly site, the laser positioning reference system including three laser emitting devices, and each laser emitting device being provided with an angle sensor and a distance sensor; using the laser positioning reference system to assemble and position the tower body segments, projecting laser marking lines on the connection surfaces of the tower body segments through the laser emitting devices, establishing the spatial coordinates of the tower body segments according to the real-time data of the angle sensors and the distance sensors, and correcting the positions of the tower body segments by using an adaptive iterative algorithm; installing an inertial measurement unit on the tower body surface, the inertial measurement unit including an acceleration sensor and a gyroscope; establishing a hoisting attitude control system, the hoisting attitude control system including a main boom crane, an auxiliary crane, and a tensioning device; During the hoisting process, based on the attitude data collected by the inertial measurement unit, a dynamic tension compensation algorithm is used to calculate the offset of the tower body's center of gravity, control the lifting torque of the main boom crane and the balance torque of the auxiliary crane, and apply horizontal tension through the tensioning device to achieve attitude stability control during the tower body hoisting process; When the tower body reaches the preset vertical position, a fast-curing material is injected into the connection part of the tower body foundation to complete the installation of the tower body.

[0007] In an alternative embodiment, The laser positioning reference system is used to assemble and position the tower body segments. The laser emission device projects laser marking lines on the connection surfaces of the tower body segments. Based on the real-time data of the angle sensors and distance sensors, the spatial coordinates of the tower body segments are established. The method for correcting the position of the tower body segments using the adaptive iterative algorithm includes: A laser positioning reference system is set up at the tower body assembly site. The laser positioning reference system includes three laser emission devices, and each laser emission device is provided with an angle sensor and a distance sensor; Control the laser emission device to project laser marking lines on the connection surfaces of the tower body segments to be assembled to form laser positioning reference marks; Collect the position information of the tower body segments through the angle sensors and the distance sensors, and establish the spatial coordinates of the tower body segments based on the position information; Compare the spatial coordinates of the tower body segments with the target coordinates of the preset assembly position, and calculate the position deviation value; Based on the position deviation value, an adaptive iterative algorithm is used to generate a position correction instruction. The adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values collected continuously for multiple times; According to the position correction instruction, control the adjustment mechanism of the tower body segments to adjust the position of the tower body segments in real time until the position deviation value is less than the preset threshold, and complete the assembly and positioning of the tower body segments.

[0008] In an alternative embodiment, Based on the position deviation value, an adaptive iterative algorithm is used to generate a position correction instruction. The adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values collected continuously for multiple times, including: Collect the real-time position data of the tower body segments during the assembly process, and calculate the position deviation value between the real-time position data and the preset target position; Based on the multiple position deviation values collected continuously, establish a position deviation time series data set; According to the position deviation time series data set, calculate the change trend and change rate of the position deviation; Based on the change trend and change rate, an adaptive iterative algorithm is used to dynamically generate correction parameters, where the correction parameters include a correction step size and a correction direction; A position correction instruction is generated according to the correction parameters, and the position correction instruction is used to control the position adjustment device of the tower segment; After each execution of the position correction instruction, the position deviation value is re-collected and the position deviation time series data set is updated, and the dynamic adjustment of the correction parameters continues until the position deviation value is less than a preset threshold.

[0009] In an alternative embodiment, During the hoisting process, based on the attitude data collected by the inertial measurement unit, a dynamic tension compensation algorithm is used to calculate the offset of the tower body's center of gravity, control the lifting moment of the main boom crane and the balance moment of the auxiliary crane, and apply a horizontal tension through the tensioning device to achieve attitude stability control during the tower body hoisting process, including: Collect real-time attitude data of the tower body during hoisting through an inertial measurement unit arranged on the surface of the tower body, and the inertial measurement unit includes an acceleration sensor and a gyroscope; Based on the real-time attitude data, calculate the tilt angle and angular velocity of the tower body in three-dimensional space; Use a dynamic tension compensation algorithm to process the tilt angle and angular velocity data, and calculate the real-time offset of the center of gravity of the tower body; According to the offset of the center of gravity, calculate the lifting moment required by the main boom crane and the balance moment required by the auxiliary crane; Control the main boom crane and the auxiliary crane to adjust the force according to the lifting moment and the balance moment respectively; Synchronously control the tensioning device to apply tension in the horizontal direction, and the magnitude and direction of the tension are adjusted in real time according to the offset of the center of gravity; Through the lifting moment of the main boom crane, the balance moment of the auxiliary crane and the horizontal tension of the tensioning device to form a three-way force balance, realizing the attitude stability of the tower body during hoisting.

[0010] In an alternative embodiment, Using a dynamic tension compensation algorithm to process the tilt angle and angular velocity data, calculating the real-time offset of the center of gravity of the tower body includes: Obtain the tower body tilt angle data and angular velocity data collected by the inertial measurement unit; Establish a tower body attitude data cache queue, and store the continuously collected tilt angle data and angular velocity data into the attitude data cache queue; Use a dynamic tension compensation algorithm to process the data in the attitude data cache queue, and the dynamic tension compensation algorithm includes: Calculate the projection trajectory of the tower body on the horizontal plane according to the inclination angle data; Calculate the motion acceleration of the tower body based on the angular velocity data; Combine the projection trajectory and the motion acceleration to establish a dynamic prediction model for the position of the center of gravity of the tower body; Calculate the real-time offset of the center of gravity of the tower body according to the dynamic prediction model, and the real-time offset includes a horizontal offset component and a vertical offset component; Perform filtering processing on the real-time offset to eliminate the offset fluctuation caused by random disturbance.

[0011] In an alternative embodiment, Synchronously control the tensioning device to apply tension in the horizontal direction, and the magnitude and direction of the tension are adjusted in real time according to the center of gravity offset, including: Receive the real-time offset data of the center of gravity of the tower body, and the real-time offset data includes a horizontal offset component and a vertical offset component; Calculate the tension vector in the horizontal plane according to the horizontal offset component, and the tension vector includes the tension magnitude and the tension direction; Arrange three groups of tensioning devices around the tower body at an angular interval of 120 degrees, and each group of the tensioning devices includes a tension sensor and an electric winch; Decompose the tension vector into component forces corresponding to the three tensioning devices, and calculate the tension value that each tensioning device needs to apply; Synchronously control the electric winches of the three groups of tensioning devices to make the actual tension values applied by each group of tensioning devices match the calculated tension values; Real-time monitor the actual tension values of each group of tensioning devices through the tension sensors, and trigger tension compensation adjustment when the detected tension deviation exceeds the preset threshold; Dynamically adjust the tension values of each group of tensioning devices according to the change trend of the center of gravity offset of the tower body, and maintain the force balance of the tower body in the horizontal direction.

[0012] In an alternative embodiment, Real-time monitor the actual tension values of each group of tensioning devices through the tension sensors, and trigger tension compensation adjustment when the detected tension deviation exceeds the preset threshold, including: Collect the actual tension values of each group of tensioning devices through the tension sensors arranged on the three groups of tensioning devices; Compare the actual tension value with the target tension value of the tensioning device, and calculate the tension deviation value; Establish a tension deviation monitoring queue, and store the continuously collected tension deviation values into the tension deviation monitoring queue; Real-time detect whether the deviation value in the tension deviation monitoring queue exceeds the preset threshold; When a tension deviation value is detected to exceed a preset threshold, a tension compensation amount is calculated, and the tension compensation amount is determined based on the magnitude and duration of the tension deviation; Generate an adjustment instruction for the electric winch according to the tension compensation amount, and control the electric winch to perform tension compensation adjustment; Continuously monitor the change of the actual tension value during the tension compensation adjustment until the tension deviation value falls back within the preset threshold range.

[0013] In the second aspect of the embodiments of the present invention, Provide an electronic device, including: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to call the instructions stored in the memory to execute the method described above.

[0014] In the third aspect of the embodiments of the present invention, Provide a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method described above is implemented.

[0015] The present invention realizes high-precision positioning and real-time attitude monitoring during the tower body assembly process by establishing a laser positioning reference system and an inertial measurement unit, and significantly improves the accuracy and reliability of tower body installation.

[0016] The present invention adopts an adaptive iterative algorithm and a dynamic tension compensation technology, which can effectively cope with the adverse factors in the desert environment and ensure the stability and safety of the tower body hoisting process.

[0017] The present invention integrates advanced technologies such as automated measurement, intelligent control, and rapid curing, greatly improving the construction efficiency, reducing the labor cost, and providing reliable technical support for the construction of transmission lines in desert areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic flow chart of the method for positioning and hoisting attitude control of the transmission line tower body in the desert environment of the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] The technical solution of the present invention will be described in detail below with specific embodiments. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0021] Figure 1 It is a schematic flow chart of the method for assembling and positioning the transmission line tower body and controlling the hoisting attitude in the desert environment according to the embodiment of the present invention. As Figure 1 shown, the method includes: Obtain the tower body structure parameters and desert environment parameters of the transmission line tower body, where the tower body structure parameters include the tower body height, the position of the tower body center of gravity, and the connection structure dimensions of the tower body segments, and the desert environment parameters include geological conditions, wind speed, and wind direction; Establish a laser positioning reference system at the tower body assembly site. The laser positioning reference system includes three laser emission devices, and each laser emission device is provided with an angle sensor and a distance sensor; Use the laser positioning reference system to assemble and position the tower body segments. Project laser marking lines on the connection surfaces of the tower body segments through the laser emission devices. Establish the space coordinates of the tower body segments according to the real-time data of the angle sensors and distance sensors, and use an adaptive iterative algorithm to correct the positions of the tower body segments; Install an inertial measurement unit on the tower body surface. The inertial measurement unit includes an acceleration sensor and a gyroscope; Establish a hoisting attitude control system. The hoisting attitude control system includes a main boom crane, an auxiliary crane, and a tensioning device; During the hoisting process, based on the attitude data collected by the inertial measurement unit, calculate the offset of the tower body center of gravity using a dynamic tension compensation algorithm, control the lifting torque of the main boom crane and the balance torque of the auxiliary crane, and apply a horizontal tension through the tensioning device to achieve attitude stability control during the tower body hoisting process; When the tower body reaches the preset vertical position, inject a fast-curing material into the tower body foundation connection part to complete the installation of the tower body.

[0022] Exemplarily, when assembling and hoisting the transmission line tower body in the desert environment, first obtain the structural parameters of the tower body through measurement, including the total height of the tower body is 80 meters, the center of gravity is located 32 meters above the bottom of the tower body, the tower body is divided into 8 segments, each segment is about 10 meters high, and the diameter of the segment connection flange is 2.5 meters. At the same time, obtain the desert environment parameters, including the bearing capacity of sandy soil is 120 kPa, the wind speed is 5.8 m / s, and the dominant wind direction is northwest.

[0023] Establish a laser positioning reference system with a triangular layout at the tower body assembly site. The three laser emission devices are respectively placed at a position 15 meters away from the center of the tower body, forming a triangular layout with a 120° included angle. Each laser emission device is equipped with an angle sensor with an angular accuracy of 0.01° and a distance sensor with a distance accuracy of 1 mm, and can achieve precise measurement within a range of 200 meters.

[0024] During assembly, the laser emission device projects a red cross laser marking line onto the connecting flange surface of the tower body segment. The position data of the tower body segment is collected in real time through the angle sensor and the distance sensor, and a spatial coordinate model of the segment is established. The PID adaptive iterative algorithm is used to calculate the correction amount according to the deviation between the target position and the actual position, and control the hydraulic adjustment mechanism to finely adjust the position of the segment until the position deviation is less than 5 mm and the angle deviation is less than 0.5°, completing the precise docking of the segment.

[0025] Then, an inertial measurement unit is installed every 20 meters on the tower body. Each measurement unit includes a three-axis acceleration sensor and a three-axis gyroscope, with a sampling frequency of 100 Hz, and can measure accelerations of ±2g and angular velocities of ±200° / s.

[0026] The hoisting system consists of a 250-ton main boom crane, a 100-ton auxiliary crane, and three groups of electric tensioning devices. During the hoisting process, the inertial measurement unit collects the attitude data of the tower body in real time, fuses the acceleration and angular velocity data through the Kalman filtering algorithm, and calculates the real-time offset of the center of gravity of the tower body. Based on the offset data, the control system automatically adjusts the lifting torque of the main boom crane and the balance torque of the auxiliary crane, and at the same time applies a horizontal tension through the three groups of tensioning devices to keep the attitude of the tower body stable during hoisting and limit the inclination angle not to exceed 2°.

[0027] When the tower body reaches the vertical position, the displacement sensor detects that the centering error between the tower base and the foundation is less than 10 mm, and the control system starts the grouting pump to inject fast-curing epoxy resin into the connecting part of the tower body foundation. The curing time of the material is 30 minutes, and the curing strength reaches 30 MPa, thus completing the installation process of the entire tower body.

[0028] In an alternative embodiment, The laser positioning reference system is used to assemble and position the tower body segments. The laser emission device projects a laser marking line on the connecting surface of the tower body segments. Establishing the spatial coordinates of the tower body segments according to the real-time data of the angle sensor and the distance sensor, and correcting the position of the tower body segments by using the adaptive iterative algorithm includes: Set up a laser positioning reference system at the tower body assembly site. The laser positioning reference system includes three laser emission devices, and each laser emission device is provided with an angle sensor and a distance sensor; Control the laser emission device to project a laser marking line on the connecting surface of the tower section to be assembled, forming a laser positioning reference mark; Collect the position information of the tower section through the angle sensor and the distance sensor, and establish the spatial coordinates of the tower section according to the position information; Compare the spatial coordinates of the tower section with the target coordinates of the preset assembly position, and calculate the position deviation value; Based on the position deviation value, generate a position correction instruction using an adaptive iterative algorithm, and the adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values collected continuously for multiple times; Control the adjustment mechanism of the tower section according to the position correction instruction, and adjust the position of the tower section in real time until the position deviation value is less than the preset threshold, and complete the assembly and positioning of the tower section.

[0029] At the tower assembly site, establish a three-dimensional coordinate system with the center of the tower base as the origin. At a position 15 meters away from the center of the tower base, install three laser positioning devices at an angular interval of 120°, named points A, B, and C respectively. Each laser positioning device is equipped with a laser emitter driven by a high-precision servo motor, with a horizontal angle accuracy of 0.01° and a vertical angle accuracy of 0.01°. The supporting distance sensor uses laser ranging technology, with a ranging accuracy of ±1 mm and a ranging range of 0-200 meters.

[0030] When assembling the tower section, the control system simultaneously activates the three laser emission devices to project red cross laser marking lines onto the connecting flange surface of the tower section to be assembled. Record the horizontal angle θh and vertical angle θv of the laser emission through the angle sensor, and record the target point distance d through the distance sensor. Based on the spherical coordinate transformation formula, convert the three groups of (θh, θv, d) data into the position coordinates (x, y, z) and normal vector (nx, ny, nz) of the connecting surface of the tower section in the three-dimensional coordinate system.

[0031] The system compares the calculated actual coordinates with the preset target coordinates, and calculates the position deviation vector ΔP = (Δx, Δy, Δz) and the angle deviation vector ΔA = (Δθx, Δθy, Δθz). When the modulus of the position deviation |ΔP| is greater than 5 mm or the modulus of the angle deviation |ΔA| is greater than 0.5°, trigger the position correction process.

[0032] The correction process uses an adaptive iterative algorithm, which is based on the position deviation values collected continuously five times, uses the least squares method to fit the deviation change trend, and dynamically adjusts the correction step coefficient k. The correction instruction is sent to the hydraulic adjustment mechanism of the tower section through the wireless communication module. The mechanism includes a six-degree-of-freedom adjustment platform, which can achieve a translational adjustment of ±100 mm and an angular adjustment of ±5°.

[0033] The hydraulic adjustment mechanism adjusts the position of the tower segments according to the calibration instructions, while three laser positioning devices continuously track and monitor the change of the segment position. The system executes the "measurement - calculation - calibration" process in a cycle at a frequency of 10 Hz until the position deviation |ΔP| is less than the preset threshold of 3 mm and the angle deviation |ΔA| is less than the preset threshold of 0.3°. At this time, the system issues an audible and visual prompt signal to indicate the operator to complete the final fixed connection of the segment.

[0034] In an alternative embodiment, Based on the position deviation value, an adaptive iterative algorithm is used to generate a position correction instruction. The adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values collected continuously for multiple times, including: Collect the real - time position data of the tower segments during the assembly process, and calculate the position deviation value between the real - time position data and the preset target position; Based on multiple continuously collected position deviation values, establish a position deviation time - series data set; According to the position deviation time - series data set, calculate the change trend and change rate of the position deviation; Based on the change trend and change rate, use an adaptive iterative algorithm to dynamically generate correction parameters. The correction parameters include a correction step size and a correction direction; Generate a position correction instruction according to the correction parameters. The position correction instruction is used to control the position adjustment device of the tower segments; After each execution of the position correction instruction, re - collect the position deviation value and update the position deviation time - series data set, and continue the dynamic adjustment of the correction parameters until the position deviation value is less than the preset threshold.

[0035] Exemplarily, the system starts three groups of laser positioning devices to collect the real - time position data of the tower segments at a sampling frequency of 100 Hz. Each group of data contains spatial position coordinates and attitude angles. The system compares the collected real - time position data with the preset target position and calculates the position deviation vector and the angle deviation vector.

[0036] The system maintains a position deviation time - series data queue with a length of 20, which stores the position deviation vectors and angle deviation vectors collected in the most recent 20 times in chronological order. The queue is updated in a first - in - first - out manner. When new data enters the queue each time, the earliest data will be removed.

[0037] Based on the deviation data in the queue, the system calculates the change trend vector and the change rate vector of the position deviation. The change trend vector is obtained through linear regression calculation of the data in the queue, representing the change trend of the deviation in each direction; the change rate vector is obtained by calculating the difference between adjacent data points and dividing by the sampling time interval, representing the speed of deviation change.

[0038] The adaptive iterative algorithm dynamically calculates the correction parameters according to the change trend vector and the change rate vector, including the correction step vector and the correction direction vector. The correction step vector is equal to the adaptive coefficient multiplied by the magnitude of the position deviation, where the initial value of the adaptive coefficient is 0.5 and it is dynamically adjusted according to the continuous correction effect, with the value range from 0.2 to 0.8. The correction direction vector is equal to the normalized result of the position deviation vector plus the negative value of the trend weight coefficient multiplied by the change trend vector, where the trend weight coefficient is 0.3.

[0039] Generate a position correction instruction according to the correction parameters, and send the instruction to the hydraulic adjustment actuator of the tower segment through the industrial Ethernet. After receiving the instruction, the hydraulic actuator adjusts the position of the tower segment according to the specified step and direction.

[0040] After the adjustment is completed, the system re-collects the position data and calculates the new deviation value, updating the deviation time series data queue. If the new deviation value is less than 3 mm and the angle deviation is less than 0.3°, it is determined that the target position is reached and the correction process ends; otherwise, recalculate the correction parameters according to the new deviation data and continue to execute the correction process.

[0041] During the correction process, if the deviation value does not decrease significantly (the decrease amplitude is less than 10%) after 5 consecutive corrections, the system will adjust the value of the adaptive coefficient: if the deviation increases, the coefficient value will be decreased; if the deviation decreases but the speed is too slow, the coefficient value will be increased to improve the correction efficiency.

[0042] In an alternative embodiment, During the hoisting process, based on the attitude data collected by the inertial measurement unit, a dynamic tension compensation algorithm is used to calculate the offset of the tower body's center of gravity, control the lifting moment of the main boom crane and the balance moment of the auxiliary crane, and apply a horizontal tension through the tensioning device to achieve attitude stability control during the tower body hoisting process, including: Collect the real-time attitude data of the tower body during hoisting through the inertial measurement unit set on the surface of the tower body, and the inertial measurement unit includes an acceleration sensor and a gyroscope; Based on the real-time attitude data, calculate the tilt angle and angular velocity of the tower body in three-dimensional space; Use the dynamic tension compensation algorithm to process the tilt angle and angular velocity data, and calculate the real-time offset of the tower body's center of gravity; Calculate the lifting moment required for the main boom crane and the balancing moment required for the auxiliary crane according to the center of gravity offset; Control the main boom crane and the auxiliary crane to adjust the force according to the lifting moment and the balancing moment respectively; Synchronously control the tensioning device to apply tension in the horizontal direction, and the magnitude and direction of the tension are adjusted in real time according to the center of gravity offset; Form a three-way force balance through the lifting moment of the main boom crane, the balancing moment of the auxiliary crane and the horizontal tension of the tensioning device to realize the attitude stability of the tower body during the hoisting process.

[0043] Exemplarily, an inertial measurement unit is installed every 15 meters along the height direction on the surface of the tower body, and a total of 5 measurement units are installed. Each inertial measurement unit includes a three-axis acceleration sensor (range ±2g, accuracy 0.001g) and a three-axis gyroscope (range ±200° / s, accuracy 0.01° / s), and the sampling frequency is 200Hz. The data is transmitted to the central control system in real time through an industrial-grade wireless network.

[0044] The central control system receives the attitude data from each inertial measurement unit and calculates the tilt angle and angular velocity of the tower body in three-dimensional space through a data fusion algorithm. The tilt angle includes the tilt angles of the tower body in the X-axis and Y-axis directions, as well as the rotation angle of the tower body around its own axis; the angular velocity represents the angular velocity in the corresponding direction respectively.

[0045] The control system uses a dynamic tension compensation algorithm to process the attitude data. This algorithm is based on the dynamic model of the tower body, simplifies the tower body into a variable-mass multi-segment flexible body, and considers the comprehensive effects of wind load, inertial force and external tension. The system calculates the three-dimensional offset of the center of gravity of the tower body according to the tilt angle and angular velocity calculated in real time, combined with the pre-input mass distribution and stiffness parameters of the tower body.

[0046] Based on the center of gravity offset, the system calculates the lifting moment required for the main boom crane and the balancing moment required for the auxiliary crane. The lifting moment is equal to the mass of the tower body multiplied by the acceleration due to gravity, plus the proportional coefficient multiplied by the vertical offset of the center of gravity, plus the differential coefficient multiplied by the angular velocity in the vertical direction. The balancing moment is equal to the balancing moment coefficient multiplied by the modulus of the horizontal offset of the center of gravity.

[0047] The control system sends the calculated torque commands to the electro-hydraulic proportional control systems of the main boom crane and the auxiliary crane respectively through the CAN bus. The main boom crane adjusts the output pressure of the hydraulic system according to the lifting moment to control the lifting speed and lifting force of the hook; the auxiliary crane adjusts the tension of the cable according to the balancing moment to provide a horizontal balance force for the tower body.

[0048] Meanwhile, the system controls three groups of tensioning devices to apply tension in the horizontal direction. The tensioning devices are evenly arranged around the tower body, with an interval of 120° from each other. Each group of tensioning devices includes an electric winch, a tension sensor, and a guiding pulley. The system calculates the required horizontal tension vector based on the horizontal component of the center of gravity offset, and then decomposes the tension vector into component forces in three directions, corresponding to the tensions applied by the three groups of tensioning devices respectively.

[0049] Through the combined action of the vertical lifting moment of the main boom crane, the balancing moment of the auxiliary crane, and the horizontal tensions of the three groups of tensioning devices, a multi-directional force balance for the tower body is formed, ensuring that the tower body maintains a stable posture during the hoisting process, with the inclination angle limited within the range of ±2° and the angular velocity limited within the range of ±1° / s.

[0050] In an alternative embodiment, Using a dynamic tension compensation algorithm to process the inclination angle and angular velocity data, calculating the real-time offset of the center of gravity of the tower body includes: Obtaining the tower body inclination angle data and angular velocity data collected by the inertial measurement unit; Establishing a tower body attitude data cache queue, and storing the continuously collected inclination angle data and angular velocity data into the attitude data cache queue; Using a dynamic tension compensation algorithm to process the data in the attitude data cache queue, and the dynamic tension compensation algorithm includes: Calculating the projection trajectory of the tower body on the horizontal plane according to the inclination angle data; Calculating the motion acceleration of the tower body based on the angular velocity data; Combining the projection trajectory and the motion acceleration to establish a dynamic prediction model for the position of the center of gravity of the tower body; Calculating the real-time offset of the center of gravity of the tower body according to the dynamic prediction model, and the real-time offset includes a horizontal offset component and a vertical offset component; Performing filtering processing on the real-time offset to eliminate the offset fluctuation caused by random disturbance.

[0051] Exemplarily, the system collects raw data from 5 inertial measurement units installed on the surface of the tower body, and each measurement unit outputs triaxial acceleration and triaxial angular velocity data at a frequency of 200 Hz. The collected raw data is first preprocessed by a digital filter to remove high-frequency noise and low-frequency drift.

[0052] The system establishes an attitude data cache queue for each inertial measurement unit, with a queue length of 100, storing the sensor data within the most recent 0.5 seconds. The queue is implemented using a circular buffer. When new data enters the queue, the oldest data will be overwritten. The data stored in the queue includes time stamps, triaxial acceleration, and triaxial angular velocity.

[0053] The dynamic tension compensation algorithm first processes the angular velocity data and calculates the inclination angles of the tower body in three directions through numerical integration. The calculation method is that the inclination angle at the current moment is equal to the inclination angle at the previous moment plus the current angular velocity multiplied by the time interval, where the time interval is taken as 0.005 seconds.

[0054] To prevent integral drift, the system uses the acceleration data to correct the inclination angle. Under static or quasi-static conditions, the auxiliary inclination angle is calculated using the gravitational acceleration vector, and then the inclination angle obtained by integrating the angular velocity and the auxiliary inclination angle obtained by the acceleration are fused through a complementary filter, with the filtering coefficient taken as 0.98.

[0055] Based on the fused inclination angle data, the system calculates the projection trajectory of the tower body on the horizontal plane. Assuming that the tower body is a rigid body with a length equal to the height of the tower body, the projection coordinates of the top of the tower body on the horizontal plane can be calculated through trigonometric relationships.

[0056] Based on the angular velocity data, the system calculates the motion acceleration of the tower body. First, the angular velocity data is differentiated with respect to time to obtain the angular acceleration. The calculation method is the angular velocity at the current moment minus the angular velocity at the previous moment, and then divided by the time interval.

[0057] Combining the inclination angle, angular velocity, and angular acceleration, the system establishes a dynamic prediction model for the position of the center of gravity of the tower body. This model is based on the physical characteristics and dynamic equations of the tower body, considering the mass distribution and stiffness distribution of the tower body, where the distribution parameters are functions of the height from the bottom of the tower. The model uses the finite element method to discretize the tower body into 20 nodes, calculates the displacements and forces of each node, and then solves for the position of the center of gravity.

[0058] Through the dynamic prediction model, the system calculates the real-time offset of the center of gravity of the tower body, including the horizontal offset component and the vertical offset component. The calculation formula is based on the integral principle, considering the mass distribution and inclination angle distribution at each height position.

[0059] Finally, the system processes the calculated center of gravity offset using an adaptive Kalman filter to eliminate the offset fluctuations caused by random factors such as wind load and measurement noise. The state transition matrix and observation matrix of the filter are dynamically adjusted according to the dynamic characteristics of the system to ensure the optimality of the filtering effect. The center of gravity offset data after filtering is transmitted to the hoisting control system for subsequent moment calculation and tension adjustment.

[0060] In an alternative embodiment, Synchronously control the tensioning device to apply tension in the horizontal direction. The magnitude and direction of the tension are adjusted in real time according to the center of gravity offset, including: Receive the real-time offset data of the center of gravity of the tower body, and the real-time offset data includes the horizontal offset component and the vertical offset component; Calculate the tension vector in the horizontal plane based on the horizontal offset component, where the tension vector includes a tension magnitude and a tension direction; Set three groups of tensioning devices around the tower body at an angular interval of 120 degrees. Each group of the tensioning devices includes a tension sensor and an electric winch; Decompose the tension vector into component forces corresponding to the three tensioning devices, and calculate the tension value to be applied by each tensioning device; Synchronously control the electric winches of the three groups of tensioning devices so that the actual tension values applied by each group of tensioning devices match the calculated tension values; Real-time monitor the actual tension values of each group of tensioning devices through the tension sensors. When the detected tension deviation exceeds a preset threshold, trigger tension compensation adjustment; Dynamically adjust the tension values of each group of tensioning devices according to the change trend of the tower body's center of gravity offset, and maintain the force balance of the tower body in the horizontal direction.

[0061] Exemplarily, the control system receives the real-time offset data of the tower body's center of gravity after filtering. The system extracts the horizontal offset component and calculates the modulus value and direction angle of the horizontal offset. The modulus value is calculated by the square root of the sum of squares, and the direction angle is calculated by the arctangent function.

[0062] Based on the horizontal offset component, the system calculates the required horizontal tension vector. The tension magnitude is equal to the proportionality coefficient multiplied by the horizontal offset modulus value, and then multiplied by 1 plus the velocity influence factor multiplied by the change rate of the horizontal offset, where the proportionality coefficient is taken as 2000 Newtons per meter and the velocity influence factor is taken as 0.5 seconds. The tension direction is opposite to the horizontal offset direction, that is, the direction angle plus 180 degrees.

[0063] Set three groups of tensioning devices around the tower body at an angular interval of 120°. They are located at the positions of azimuth angles 0°, 120°, and 240°. Each group of tensioning devices includes an electric winch with a rated tension of 50 kN, a tension sensor with an accuracy of ±0.1 kN, a set of guiding pulleys, and high-strength steel cables.

[0064] The system decomposes the horizontal tension vector into component forces corresponding to the three tensioning devices. The calculation method is the tension magnitude multiplied by the cosine value of the included angle between the tension direction and the direction of each device. If the calculated result is negative, set the value to the minimum holding tension of 1 kN to ensure that the steel cable is always in a tensioned state.

[0065] The control system sends the calculated target tension values to the electric winch controllers of the three groups of tensioning devices through the industrial fieldbus. Each electric winch controller has a built-in PID control algorithm. After receiving the target tension value, according to the actual tension value fed back by the tension sensor, it adjusts the motor output torque to make the actual tension value approach the target tension value.

[0066] The tension control adopts a cascade control structure, with the inner loop for tension control and the outer loop for position control. The control period of the inner loop is 10 milliseconds, and the control period of the outer loop is 100 milliseconds. The PID parameters of the inner loop are set as proportional coefficient 5.0, integral coefficient 2.0, and derivative coefficient 0.5; the PID parameters of the outer loop are set as proportional coefficient 3.0, integral coefficient 0.5, and derivative coefficient 1.0. The system dynamically adjusts the PID parameters according to the actual control effect through a self-tuning algorithm to adapt to different load conditions and environmental disturbances.

[0067] The tension sensor monitors the actual tension values of each group of tensioning devices in real time, and the sampling frequency is 100 Hz. The system compares the actual tension value with the target tension value and calculates the tension deviation.

[0068] When it is detected that the absolute value of any tension deviation exceeds the preset threshold of 2 kN, or the modulus of the resultant deviation vector of the tensions of the three groups exceeds 3 kN, the system triggers the tension compensation adjustment process. The tension compensation adjustment adopts an incremental PID algorithm to generate a speed regulation command for the winch motor to precisely control the winding and unwinding speed of the steel cable.

[0069] According to the change trend of the offset of the tower body's center of gravity, the system calculates the future tension demand within 0.5 seconds in advance through a predictive control algorithm to achieve feedforward compensation for tension control and effectively reduce control lag. At the same time, the system considers the influence of wind load and corrects the tension calculation formula according to the real-time wind speed data provided by the wind speed sensor to improve the stability of the system under strong wind conditions.

[0070] In an alternative implementation, By using the tension sensor to monitor the actual tension values of each group of tensioning devices in real time, when it is detected that the tension deviation exceeds the preset threshold, triggering the tension compensation adjustment includes: Collect the actual tension values of each group of tensioning devices through the tension sensors set on the three groups of tensioning devices; Compare the actual tension value with the target tension value of the tensioning device and calculate the tension deviation value; Establish a tension deviation monitoring queue and store the continuously collected tension deviation values into the tension deviation monitoring queue; Real-time detect whether the deviation value in the tension deviation monitoring queue exceeds the preset threshold; When it is detected that the tension deviation value exceeds the preset threshold, calculate the tension compensation amount, and the tension compensation amount is determined based on the magnitude and duration of the tension deviation; Generate an adjustment command for the electric winch according to the tension compensation amount to control the electric winch to perform tension compensation adjustment; Continuously monitor the change of the actual tension value during the tension compensation adjustment until the tension deviation value falls back within the preset threshold range.

[0071] Exemplarily, on three groups of tensioning devices, an S-type tension sensor is installed on each device. The measuring range is 0 - 100 kN, and the accuracy is ±0.1% of the full scale, that is, ±0.1 kN. The tension sensor adopts strain gauge technology and has a temperature compensation function. The operating temperature range is -30°C to +70°C, adapting to the temperature difference changes in the desert environment. The sensor transmits the measured tension value to the data acquisition module through a 4 - 20 mA current signal.

[0072] The data acquisition module uses a 16-bit ADC converter with a sampling frequency of 1 kHz to collect the signals of each group of tension sensors. The collected raw data is first processed by a median filter to remove occasional spike interferences, and then filtered by a low-pass filter (cut-off frequency 10 Hz) to filter out high-frequency noises, and finally a smooth actual tension value is obtained.

[0073] The control system compares the actual tension value with the target tension value and calculates the tension deviation. The system establishes a tension deviation monitoring queue for each group of tensioning devices. The queue length is 50, storing the tension deviation values within the last 0.5 seconds. The queue adopts a sliding window mechanism, and the earliest data will be removed each time new data enters.

[0074] The system continuously detects the data in the tension deviation monitoring queue to determine whether any of the following trigger conditions are met: (1) The absolute value of the single-group tension deviation is greater than the preset threshold K1 for a duration exceeding t1; (2) The sum of the tension deviations of the three groups is greater than the preset threshold K2; (3) The tension deviation change rate is greater than the preset threshold K3. Among them, K1 is 2 kN, t1 is 0.2 s, K2 is 3 kN, and K3 is 5 kN / s.

[0075] When the trigger condition is met, the system calculates the tension compensation amount. The calculation of the compensation amount is based on the PID control algorithm, including the weighted sum of the proportional term, integral term, and derivative term. Among them, the coefficients of the proportional term, integral term, and derivative term are the proportional coefficient, integral coefficient, and derivative coefficient respectively, which are dynamically adjusted according to the size and duration of the deviation through an adaptive mechanism. The proportional coefficient is increased for large deviations to accelerate the response speed, the integral coefficient is increased for small deviations to improve the steady-state accuracy, and the derivative coefficient is increased for rapidly changing deviations to suppress overshoot.

[0076] The system converts the calculated tension compensation amount into a control command for the electric winch. The electric winch adopts variable frequency speed regulation technology, and the control command is transmitted to the frequency converter through an industrial bus. The frequency converter adjusts the output frequency and voltage according to the received command to control the speed and torque of the winch motor, realizing the precise winding and unwinding of the steel cable.

[0077] To ensure the coordinated operation of the three tensioning devices, the system adopts a master-slave synchronization control strategy. The system selects the tensioning device with the largest deviation as the master control device, and the other two groups as the slave control devices, and maintains the action synchronization of the three electric winches through a communication network. After receiving the control instruction, the master control device first executes the instruction and broadcasts its own status information to the slave control devices. The slave control devices adjust their own control parameters according to the received status information to ensure that the resultant force action direction of the three tensioning devices is consistent with the calculated theoretical direction.

[0078] During the tension compensation adjustment process, the system continuously monitors the change of the actual tension value at a frequency of 100 Hz. When it is detected that the tension deviation falls back within the preset threshold K0 of 0.5 kN and remains stable for more than t0 of 0.3 s, the system determines that the compensation adjustment is completed, exits the adjustment process, and enters the normal monitoring state.

[0079] The entire tension monitoring and compensation adjustment system has a self-diagnosis function and can detect problems such as sensor failures, communication interruptions, and actuator abnormalities. When a system abnormality is detected, the control system will automatically activate the standby control mode to ensure the continuity and safety of the hoisting process.

[0080] In the second aspect of the embodiments of the present invention, a kind of electronic device is provided, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to call the instructions stored in the memory to execute the method described above.

[0081] In the third aspect of the embodiments of the present invention, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method described above is implemented.

[0082] The present invention can be a method, device, system, and / or computer program product. The computer program product may include a computer-readable storage medium on which computer-readable program instructions for executing various aspects of the present invention are uploaded.

[0083] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for assembling and positioning the tower body of a transmission line and controlling the hoisting attitude in a desert environment, characterized in that, Including: Obtaining the tower structure parameters and desert environment parameters of the transmission line tower, where the tower structure parameters include the tower height, the position of the tower center of gravity, and the connection structure dimensions of the tower segments, and the desert environment parameters include geological conditions, wind speed, and wind direction; Establishing a laser positioning reference system at the tower assembly site, where the laser positioning reference system includes three laser emitting devices, and each laser emitting device is provided with an angle sensor and a distance sensor; Using the laser positioning reference system to perform assembly positioning on the tower segments, projecting laser marking lines on the connection surfaces of the tower segments through the laser emitting devices, establishing the spatial coordinates of the tower segments according to the real-time data of the angle sensors and the distance sensors, and using an adaptive iterative algorithm to correct the positions of the tower segments; Installing an inertial measurement unit on the tower surface, where the inertial measurement unit includes an acceleration sensor and a gyroscope; Establishing a hoisting attitude control system, where the hoisting attitude control system includes a main boom crane, an auxiliary crane, and a tensioning device; During the hoisting process, based on the attitude data collected by the inertial measurement unit, calculating the offset of the tower center of gravity using a dynamic tension compensation algorithm, controlling the hoisting torque of the main boom crane and the balance torque of the auxiliary crane, and applying a horizontal tension through the tensioning device to achieve attitude stability control during the tower hoisting process; When the tower reaches the preset vertical position, injecting a fast-curing material into the tower foundation connection part to complete the tower installation.

2. The method according to claim 1, wherein Using the laser positioning reference system to perform assembly positioning on the tower segments, projecting laser marking lines on the connection surfaces of the tower segments through the laser emitting devices, establishing the spatial coordinates of the tower segments according to the real-time data of the angle sensors and the distance sensors, and using an adaptive iterative algorithm to correct the positions of the tower segments includes: Setting up a laser positioning reference system at the tower assembly site, where the laser positioning reference system includes three laser emitting devices, and each laser emitting device is provided with an angle sensor and a distance sensor; Controlling the laser emitting devices to project laser marking lines on the connection surfaces of the tower segments to be assembled to form laser positioning reference marks; Collecting the position information of the tower segments through the angle sensors and the distance sensors, and establishing the spatial coordinates of the tower segments according to the position information; Comparing the spatial coordinates of the tower segments with the target coordinates of the preset assembly position, and calculating the position deviation value; Based on the position deviation value, generating a position correction instruction using an adaptive iterative algorithm, where the adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values collected continuously for multiple times; Controlling the adjustment mechanism of the tower segments according to the position correction instruction to adjust the positions of the tower segments in real time until the position deviation value is less than the preset threshold to complete the assembly positioning of the tower segments.

3. The method according to claim 2, wherein Based on the position deviation value, generating a position correction instruction using an adaptive iterative algorithm, where the adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values collected continuously for multiple times includes: Collecting the real-time position data of the tower segments during the assembly process, and calculating the position deviation value between the real-time position data and the preset target position; Based on multiple position deviation values collected continuously, establish a time series dataset of position deviations; According to the time series dataset of position deviations, calculate the change trend and change rate of the position deviation; Based on the change trend and change rate, use an adaptive iterative algorithm to dynamically generate correction parameters, where the correction parameters include a correction step size and a correction direction; Generate a position correction instruction according to the correction parameters, and the position correction instruction is used to control the position adjustment device of the tower segment; After each execution of the position correction instruction, re-collect the position deviation value and update the time series dataset of position deviations, and continue to perform dynamic adjustment of the correction parameters until the position deviation value is less than a preset threshold.

4. The method according to claim 1, characterized in that, During the hoisting process, based on the attitude data collected by the inertial measurement unit, use a dynamic tension compensation algorithm to calculate the offset of the tower body's center of gravity, control the lifting torque of the main boom crane and the balance torque of the auxiliary crane, and apply a horizontal tension through the tensioning device to achieve attitude stability control during the tower body hoisting process, including: Collect real-time attitude data of the tower body during hoisting through an inertial measurement unit arranged on the surface of the tower body, and the inertial measurement unit includes an acceleration sensor and a gyroscope; Based on the real-time attitude data, calculate the tilt angle and angular velocity of the tower body in three-dimensional space; Use a dynamic tension compensation algorithm to process the tilt angle and angular velocity data, and calculate the real-time offset of the tower body's center of gravity; According to the offset of the center of gravity, calculate the lifting torque required by the main boom crane and the balance torque required by the auxiliary crane; Control the main boom crane and the auxiliary crane to adjust the forces respectively according to the lifting torque and the balance torque; Synchronously control the tensioning device to apply tension in the horizontal direction, and the magnitude and direction of the tension are adjusted in real time according to the offset of the center of gravity; Through the lifting torque of the main boom crane, the balance torque of the auxiliary crane and the horizontal tension of the tensioning device to form a three-way force balance, realize the attitude stability of the tower body during hoisting.

5. The method according to claim 4, wherein Using a dynamic tension compensation algorithm to process the tilt angle and angular velocity data, calculating the real-time offset of the tower body's center of gravity includes: Obtain the tilt angle data and angular velocity data of the tower body collected by the inertial measurement unit; Establish a cache queue for the tower body attitude data, and store the continuously collected tilt angle data and angular velocity data into the attitude data cache queue; Use a dynamic tension compensation algorithm to process the data in the attitude data cache queue, and the dynamic tension compensation algorithm includes: Calculate the projection trajectory of the tower body on the horizontal plane according to the tilt angle data; Calculate the motion acceleration of the tower body based on the angular velocity data; Combining the projection trajectory and the motion acceleration, establish a dynamic prediction model for the position of the tower body's center of gravity; Calculate the real-time offset of the tower body's center of gravity according to the dynamic prediction model, and the real-time offset includes a horizontal offset component and a vertical offset component; Perform filtering processing on the real-time offset to eliminate the offset fluctuation caused by random disturbance.

6. The method according to claim 4, wherein Synchronously control the tensioning device to apply tension in the horizontal direction, and the magnitude and direction of the tension are adjusted in real time according to the offset of the center of gravity, including: Receive the real-time offset data of the tower body's center of gravity, where the real-time offset data includes horizontal offset components and vertical offset components; Calculate the tension vector in the horizontal plane according to the horizontal offset component, where the tension vector includes the tension magnitude and the tension direction; Set three groups of tensioning devices around the tower body at an angular interval of 120 degrees. Each group of the tensioning devices includes a tension sensor and an electric winch; Decompose the tension vector into component forces corresponding to the three tensioning devices, and calculate the tension value that each tensioning device needs to apply; Synchronously control the electric winches of the three groups of tensioning devices so that the actual tension values applied by each group of tensioning devices match the calculated tension values; Real-time monitor the actual tension values of each group of tensioning devices through the tension sensors. When it is detected that the tension deviation exceeds the preset threshold, trigger the tension compensation adjustment; Dynamically adjust the tension values of each group of tensioning devices according to the change trend of the tower body's center of gravity offset, and maintain the force balance of the tower body in the horizontal direction.

7. The method according to claim 6, characterized in that, Real-time monitor the actual tension values of each group of tensioning devices through the tension sensors. When it is detected that the tension deviation exceeds the preset threshold, the trigger tension compensation adjustment includes: Collect the actual tension values of each group of tensioning devices through the tension sensors set on the three groups of tensioning devices; Compare the actual tension value with the target tension value of the tensioning device, and calculate the tension deviation value; Establish a tension deviation monitoring queue, and store the continuously collected tension deviation values into the tension deviation monitoring queue; Real-time detect whether the deviation value in the tension deviation monitoring queue exceeds the preset threshold; When it is detected that the tension deviation value exceeds the preset threshold, calculate the tension compensation amount, where the tension compensation amount is determined based on the magnitude and duration of the tension deviation; Generate an adjustment instruction for the electric winch according to the tension compensation amount, and control the electric winch to perform the tension compensation adjustment; Continuously monitor the change of the actual tension value during the tension compensation adjustment until the tension deviation value falls back within the preset threshold range.

8. An electronic device, characterized in that, Include: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to call the instructions stored in the memory to execute the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

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