Intelligent pairing system of wind power tower drum

Abstract

The invention provides an intelligent pairing system of a wind power tower drum. The system is applied to the technical field of intelligent processing of wind power towers and comprises a measuring module and a motor self-control module. The measurement module is used for cylinder real-time point cloud surveying and mapping; the motor self-control module is used for controlling the advancing distance of the roller carrier according to the output of the measuring module; the measurement module comprises a cylinder spacing measurement unit and a motor control signal output unit, the motor self-control module comprises a motor position acquisition unit and a three-phase asynchronous motor self-control unit, and the motor position acquisition unit outputs a motor self-control signal to the three-phase asynchronous motor self-control unit. The three-phase asynchronous motor self-control unit outputs a motor control signal to the three-phase asynchronous motor; the motor position acquisition unit comprises a three-phase asynchronous motor encoder and a first servo driver, the three-phase asynchronous motor encoder provides a current motor operation distance parameter, the first servo driver controls the input of a motor control signal according to the current motor operation distance parameter, and the assembly efficiency of the wind power tower drum can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent processing of wind power towers, and particularly relates to an intelligent assembly system for wind power towers. BACKGROUND

[0002] As a key supporting structure of a wind turbine generator system, a wind power tower is usually formed by high-precision assembly and welding of multiple large-diameter cylinders at an installation site. An efficient and accurate assembly process directly affects the construction period and engineering cost of a wind farm. However, the existing wind power tower assembly technology mainly relies on manual operation and ordinary equipment, and has a bottleneck problem of significantly affecting efficiency. The traditional assembly process needs to rely on manual repeated measurement of the distance and edge offset of the end faces of adjacent tower sections. An operator usually uses a tape measure, a gap ruler or a single-point laser ranging device to perform segmented measurement, which has the problems of low efficiency and easy introduction of human error. In particular, in the final fine adjustment stage, the operator needs to frequently enter the narrow space between the two tower sections to perform close-range measurement, which not only consumes time and effort, but also is difficult to obtain complete circumferential gap and edge offset three-dimensional data in real time due to limited field of view and insufficient accuracy of the measurement tool. The repeated interruption and correction of the measurement action greatly slows down the assembly progress. The existing assembly platform usually uses ordinary driving roller frames to adjust the position of the tower section. The movement usually relies on the experience judgment and manual control instructions of the operator, lacks closed-loop control based on real-time position data, and the ordinary three-phase asynchronous motor provides driving force but lacks high-precision position feedback and servo-level control capability. There is a cumulative error between the actual running distance and the target distance of the motor, and the operator needs to repeatedly start and stop to approach the target position, resulting in a slow adjustment process and easy over-adjustment, and the assembly process presents an inefficient cycle of "measurement-adjustment-waiting-remeasurement". The existing technology lacks an automatic measurement means that can seamlessly connect different measurement ranges. A simple target or visual alignment is usually used for long-distance positioning, and the precision is limited. When switching to close-range fine measurement, the equipment needs to be replaced or manual intervention is required. This stage-by-stage interruption of measurement and the difficulty in automatically correlating long-range and short-range measurement data result in poor coherence of the entire assembly process and increased time consumption. The measurement system and the actuator are independent of each other, and the data cannot be shared and linked in real time. The measurement results need to be manually interpreted and converted into operation instructions, and then input into the control system to drive the motor. This human intervention increases the delay and uncertainty, and cannot realize the integrated rapid response of "measurement-analysis-driving". Therefore, the existing wind power tower assembly technology generally has the problems of low efficiency, low automation, precision relying on manual operation, and tedious and time-consuming close-range fine adjustment process. Therefore, an intelligent assembly technology scheme is needed to realize high-precision continuous distance measurement and direct driving of the actuator for closed-loop accurate control, so as to significantly improve the assembly efficiency. SUMMARY

[0003] The present application provides an intelligent assembly system for a wind power tower. The system comprises:

[0004] The measurement module and the motor self-control module;

[0005] The measurement module is used for real-time point cloud mapping within a distance of a cylinder interval L meters, 0

[0006] The motor self-control module is used for controlling the distance of the roller frame advancing according to the output of the measurement module.

[0007] The measurement module comprises a cylinder interval measurement unit and a motor control signal output unit.

[0008] The cylinder interval measurement unit is composed of a short-distance measurement sub-unit based on a line laser 3D camera and a long-distance measurement sub-unit, the long-distance measurement sub-unit is used for measuring the position signal of the first cylinder, when the roller frame approaches to the preset distance, the short-distance measurement sub-unit is started, and the short-distance measurement sub-unit detects the relative position of the two cylinders and the distance between the two cylinder gaps.

[0009] The motor self-control module comprises a motor position acquisition unit and a three-phase asynchronous motor self-control unit.

[0010] The motor position acquisition unit outputs a motor self-control signal to the three-phase asynchronous motor self-control unit, the three-phase asynchronous motor self-control unit outputs a motor control signal to the three-phase asynchronous motor, so that the three-phase asynchronous motor controls the advancing distance of the roller frame, the motor position acquisition unit comprises a three-phase asynchronous motor encoder and a first servo driver, the three-phase asynchronous motor encoder provides a current motor running distance parameter, and the first servo driver controls the input of the motor control signal according to the current motor running distance parameter; the three-phase asynchronous motor self-control unit comprises a programmable logic controller and a second servo driver, the programmable logic controller controls the motor running through the second servo driver according to the received motor self-control signal.

[0011] Further, the working process of the short-distance measurement sub-unit comprises:

[0012] Starting the line laser 3D camera to scan, ensuring that there is no missed area in the scanning process, and obtaining the data of the laser line at different heights;

[0013] Processing the collected point cloud data, performing image processing, calibration and analysis, obtaining the relative position and the difference between the two cylinders;

[0014] Outputting the relative position and the difference between the two cylinders as the input of the motor self-control module to control the movement of the roller frame.

[0015] Further, the PID algorithm of the double closed-loop controller is designed in the motor self-control module, specifically:

[0016] Determining the required speed and position of the roller frame;

[0017] Select the hardware platform, including three-phase asynchronous motor, drive and PLC controller;

[0018] Build electrical and mechanical models based on the characteristics of the three-phase asynchronous motor and the dynamic characteristics of the roller frame;

[0019] According to the speed requirements of the roller frame, the inner loop speed control and outer loop position control are designed, and double closed loop control is performed;

[0020] Complete the electrical connection between the hardware and the controller, and configure the communication protocol to ensure smooth data transmission;

[0021] Conduct preliminary debugging of the system to verify the performance of the control scheme;

[0022] Based on the test run results, the control parameters are analyzed and adjusted until the expected performance is achieved;

[0023] Design a control system to monitor the speed and position of a three-phase asynchronous motor for real-time monitoring and data processing;

[0024] The inner loop adjusts the motor input based on real-time feedback of speed data, while the outer loop uses the inner loop control results to adjust the motor target position and guide the roller frame to the predetermined position;

[0025] Real-time monitoring of the motor's operating status, including temperature, current, and speed, and taking appropriate fault handling measures based on the monitoring results; including designing fault detection algorithms to detect faults in real time and ensure safe operation of the system;

[0026] Conduct overall performance evaluation and optimize control parameters based on test results;

[0027] Record the system's operating status, including faults, test records, and correction records, to form complete system documentation for easy subsequent maintenance and management.

[0028] Furthermore, the motor position acquisition unit also includes two draw wire encoders and a travel switch. The draw wire encoders acquire and control the motor control signal, and the travel switch acquires the motor control signal input by the first servo driver to acquire and control the motor running direction and control signal.

[0029] Furthermore, the collected point cloud data is processed, including: aligning the image data collected from multiple viewpoints to build a complete model of the 3D scene; generating a three-dimensional model through the point cloud data, and calculating the position of the outer wall of the cylinder and the gap; and the measurement software outputs the gap value, the position of the outer wall of the cylinder, and the height of the cylinder.

[0030] Furthermore, it also includes: filtering the point cloud data to remove noise and abnormal points; calculating the normal vector, curvature, and Gaussian value features of the point; aligning the point cloud data from multiple viewpoints of the same scene to form a complete three-dimensional model; and fusing the aligned point cloud data.

[0031] Furthermore, the motor position acquisition unit in the motor automatic control module is composed of two three-phase asynchronous motors and corresponding three-phase asynchronous motor encoders, which collects the position signals of the three-phase asynchronous motors, and the second servo driver uses the preset three-phase asynchronous motor position as the motor control signal input.

[0032] Furthermore, the programmable logic controller in the three-phase asynchronous motor automatic control unit is provided with a motor start signal, a motor stop signal, a second servo driver operation signal, a rope encoder stroke setting value and a rope encoder position signal.

[0033] Furthermore, the programmable logic controller in the three-phase asynchronous motor automatic control unit is also provided with a second servo driver control signal, a three-phase asynchronous motor target speed signal, a three-phase asynchronous motor actual speed signal, and an encoder target speed signal.

[0034] Furthermore, the programmable logic controller in the three-phase asynchronous motor automatic control unit is also provided with a difference signal between two three-phase asynchronous motor position signals.

[0035] Compared with the existing technology, the beneficial effects of the present invention are: by using a laser 3D camera to form a dual-measuring unit for both long and short distances, high-precision point cloud data of the cylinder spacing and relative position can be obtained in real time, completely replacing the traditional manual repeated measurement and judgment process, significantly shortening the measurement time, and improving data accuracy and response speed; through real-time high-precision data based on the measurement module, the system forms a closed-loop control system through PLC, encoder and servo driver, automatically and accurately controlling the three-phase asynchronous motor to drive the roller frame to the target position, replacing the process of manual operation based on experience and repeated trial and error to adjust the roller frame, greatly reducing the adjustment time and number of adjustments; the entire process from long-distance positioning, close-range precise measurement to final closed-loop control to reach the position is automatically executed by the system program, eliminating the uncertainty and delay of manual operation; by adopting a phased strategy of long-distance measurement and close-range measurement, the limitations of a single sensor in wide range and high precision are avoided, while ensuring the final accuracy, the efficiency of the approach stage is optimized, thereby improving the assembly efficiency of the wind turbine tower.

[0036] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and other features, advantages, and aspects of the embodiments of the present invention will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are provided for a better understanding of the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0038] Figure 1 A block diagram of an intelligent pairing system for wind turbine towers according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0041] Figure 1 A block diagram of an intelligent pairing system for wind turbine towers according to an embodiment of the present invention is shown. The system includes:

[0042] Measurement module 110 and motor automatic control module 120;

[0043] The measurement module 110 is used for real-time point cloud mapping within a distance of 0.5 meters between cylinders;

[0044] The motor automatic control module 120 is used to control the distance the roller frame moves forward according to the output of the measurement module 110;

[0045] The measuring module 110 includes a cylinder spacing measuring unit 111 and a motor control signal output unit 112;

[0046] The cylinder spacing measurement unit 111 is composed of a short-distance measurement subunit and a long-distance measurement subunit based on a line laser 3D camera. The long-distance measurement subunit is used to measure the position signal of the first cylinder. When the roller frame approaches a preset distance, the short-distance measurement subunit is activated to detect the relative position of the two cylinders and the distance between the two cylinders.

[0047] The motor automatic control module 120 includes a motor position acquisition unit 121 and a three-phase asynchronous motor automatic control unit 122;

[0048] The motor position acquisition unit 121 outputs a motor self-control signal to the three-phase asynchronous motor self-control unit 122, and the three-phase asynchronous motor self-control unit 122 outputs a motor control signal to the three-phase asynchronous motor so that the three-phase asynchronous motor controls the travel distance of the roller frame; the motor position acquisition unit 121 includes a three-phase asynchronous motor encoder and a first servo driver, the three-phase asynchronous motor encoder provides the current motor running distance parameter, and the first servo driver controls the input of the motor control signal according to the current motor running distance parameter; the three-phase asynchronous motor self-control unit 122 includes a programmable logic controller and a second servo driver, and the programmable logic controller controls the motor operation through the second servo driver according to the received motor self-control signal.

[0049] According to an embodiment of the present invention, by using a laser 3D camera (line laser) to form a dual-distance measurement unit, high-precision point cloud data of the cylinder spacing and relative position is obtained in real time, completely replacing the traditional manual repeated measurement and judgment process, significantly shortening the measurement time, and improving data accuracy and response speed; based on the real-time high-precision data of the measurement module 110, the system forms a closed-loop control system through a PLC, encoder and servo driver to automatically and accurately control the three-phase asynchronous motor to drive the roller frame to the target position, replacing the process of manual operation based on experience and repeated trial and error to adjust the roller frame, greatly reducing the adjustment time and the number of adjustments; the entire process from long-distance positioning, close-range precise measurement to final closed-loop control to reach the position is automatically executed by the system program, eliminating the uncertainty and delay of manual operation; by adopting a phased strategy of long-distance measurement and close-range measurement, the limitations of a single sensor in wide range and high precision are avoided, while ensuring the final accuracy, the efficiency of the approach stage is optimized, thereby improving the assembly efficiency of wind turbine towers.

[0050] In some embodiments, the short-range measurement subunit based on the line laser 3D camera may operate in the following manner:

[0051] Equipment preparation: Ensure that all relevant equipment is working properly, including the connection of the line laser 3D camera and related hardware;

[0052] On-site arrangement: Install the line laser 3D camera at a suitable angle and distance to capture image data of the cylinder surface at the best angle;

[0053] Scene setting: Minimize the interference of other factors on measurement accuracy, ensure appropriate ambient light, and avoid strong reflections and shadows;

[0054] Data acquisition: Start the line laser 3D camera to scan, ensure that no area is missed during the scanning process, and obtain data of the laser line at different heights;

[0055] Data processing: Process the collected point cloud data, perform image processing, calibration and analysis to obtain the relative position and drop between the two cylinders;

[0056] Data output: The relative position and height difference between the cylinders are output as input to the motor automatic control module 120 to control the movement of the roller frame.

[0057] According to an embodiment of the present invention, the speed of scanning and data processing is improved by reducing manual measurement and adjustment time; the line laser 3D camera provides precise point cloud data to ensure the accuracy of the relative position and height difference of the cylinder, thereby reducing assembly errors and rework; the point cloud data is quickly processed and the results are output and directly input into the automatic control module to achieve real-time position adjustment and shorten the assembly cycle; the measurement reliability is improved by optimizing the scene setting and avoiding measurement failures or delays caused by external factors; the equipment preparation, collection, processing and output steps are seamlessly connected to reduce operation interruptions and improve the overall process continuity, thereby improving the assembly efficiency of wind turbine towers.

[0058] In some embodiments, the motor automatic control module 120 is designed with a PID algorithm for a dual closed-loop controller, specifically:

[0059] Determine the required speed and position of the roller frame;

[0060] Select the appropriate hardware platform, including three-phase asynchronous motor, drive and PLC controller;

[0061] Model construction: Based on the characteristics of the three-phase asynchronous motor and the dynamic characteristics of the roller frame, electrical and mechanical models are constructed;

[0062] Control scheme design: Based on the speed requirements of the roller frame, design the inner loop speed control and outer loop position control, and select the appropriate algorithm for dual closed-loop control;

[0063] Hardware connection and parameter setting: Complete the electrical connection between the hardware and the controller, and configure the communication protocol to ensure smooth data transmission;

[0064] System trial operation: perform preliminary debugging of the system and verify the performance of the control scheme;

[0065] Parameter adjustment and optimization: Based on the test run results, the control parameters are analyzed and adjusted until the expected performance is achieved;

[0066] Data acquisition and processing: Design a control system to monitor the speed and position of the three-phase asynchronous motor for real-time monitoring and data processing;

[0067] Control execution and feedback: The inner loop adjusts the motor input based on real-time speed data, while the outer loop uses the inner loop control results to adjust the motor target position and guide the roller frame to the predetermined position;

[0068] System monitoring and fault handling: Real-time monitoring of the motor's operating status, including temperature, current, and speed, and taking appropriate fault handling measures based on the monitoring results; including designing fault detection algorithms to detect faults in real time and ensure safe operation of the system;

[0069] Performance evaluation and optimization: Conduct overall performance evaluation and optimize control parameters based on test results;

[0070] System documentation: records the system's operating status, including faults, test records, and correction records, forming a complete system documentation to facilitate subsequent maintenance and management.

[0071] According to an embodiment of the present invention, a dual closed-loop PID algorithm (inner loop speed control, outer loop position control) is used to ensure that the roller frame moves to the target position quickly and accurately, reducing manual adjustment and rework time; the motor speed and position are monitored in real time by a data acquisition and processing system, allowing immediate correction of deviations, preventing error accumulation, and improving operational smoothness; fault detection algorithms and status monitoring (such as temperature and current) are used to promptly detect and handle problems, reducing unexpected shutdowns and ensuring continuous operation; through trial operation, adjustment and performance evaluation, control parameters are optimized to adapt to actual working conditions and maximize system response efficiency and stability; by reducing manual intervention and automating position guidance and motion control, the assembly process is accelerated; by documenting operating data, rapid fault troubleshooting and preventive maintenance are facilitated, reducing the risk of long-term shutdowns, and thereby improving the assembly efficiency of wind turbine towers.

[0072] In some embodiments, the motor position acquisition unit 121 further includes two drawstring encoders and a travel switch. The drawstring encoders acquire and control the motor control signal, and the travel switch acquires the motor control signal input by the first servo driver to acquire and control the motor running direction and control signal.

[0073] According to an embodiment of the present invention, two rope encoders are used to provide real-time, high-precision motor displacement measurement signals, which directly reflect the movement position of the controlled tower component and realize precise closed-loop control; the motor movement direction signal is directly collected by the travel switch and the extreme position is detected, providing physical limit protection to prevent overtravel collision, ensure safety and avoid shutdowns caused by accidents; the direction information of the motor control signal is collected in real time to ensure that the motor turns correctly according to the instruction, and rework and adjustment time waste caused by directional misoperation are avoided; the motor running direction, control instructions and actual position are centrally collected and controlled, so as to improve the system response speed and coordination, reduce manual intervention and misjudgment; through precise position feedback and reliable direction control, the risk of inaccurate tower segment alignment or collision requiring repeated adjustment is greatly reduced, the success rate of one-time assembly is improved, and the assembly efficiency of wind turbine towers is thereby improved.

[0074] In some embodiments, processing the collected point cloud data includes: aligning image data collected from multiple viewpoints to establish a complete model of the 3D scene; generating a three-dimensional model through the point cloud data, and calculating the position of the outer wall of the cylinder and the drop of the gap; after processing the measurement results, the measurement software outputs the gap value, the position of the outer wall of the cylinder and the height of the cylinder, and records the above data in the form of a chart in the measurement log for subsequent use.

[0075] According to an embodiment of the present invention, by automatically aligning multi-viewpoint images and constructing a complete 3D model, the tedious process of manual measurement is avoided, and the data acquisition and processing cycle is significantly shortened; by generating a three-dimensional model based on point cloud data and calculating key parameters, dimensional accuracy is ensured, and assembly errors and rework are reduced; the gap values ​​and key parameters are directly output by the measurement software and recorded in a log in the form of a chart, which is convenient for real-time call and subsequent reference, simplifying assembly planning and problem troubleshooting, and thereby improving the efficiency of wind turbine tower assembly.

[0076] In some embodiments, it also includes: filtering the point cloud data to remove noise and abnormal points to make the point cloud surface smoother; calculating the normal vector, curvature, Gaussian value and other features of the point to highlight the key parts of the point cloud data; aligning the point cloud data from multiple viewpoints of the same scene to form a complete three-dimensional model; fusing the aligned point cloud data to improve the overall model quality.

[0077] According to an embodiment of the present invention, by filtering the point cloud data and removing noise and outliers, the point cloud surface is made smoother. Reducing data noise and outliers can improve the accuracy and credibility of the point cloud data, thereby reducing the error rate in subsequent processing and accelerating the model building speed; through feature extraction, key geometric areas can be quickly identified, redundant data processing can be avoided, and the processing efficiency of key parts can be improved; by eliminating viewpoint blind spots and data missing, the integrity of the model is ensured, and the trial and error and adjustment time in the assembly process are reduced; by fusing data, redundancy is reduced and the model consistency and accuracy are improved, ensuring that the virtual assembly simulation is more reliable, reducing the rework rate of physical assembly, and thereby improving the assembly efficiency of wind turbine towers.

[0078] In some embodiments, the motor position acquisition unit 121 in the motor automatic control module 120 is composed of two three-phase asynchronous motors and corresponding three-phase asynchronous motor encoders, which collects the position signal of the three-phase asynchronous motor, and the first servo driver uses the preset three-phase asynchronous motor position as the motor control signal input.

[0079] According to an embodiment of the present invention, two sets of motor systems with encoders can automatically and accurately control the axial rotation and / or radial movement of the tower segments, replacing time-consuming and labor-intensive alignment operations such as manual lifting, prying, and fine-tuning. The entire process greatly reduces the operator's need for alignment judgment and manual adjustment, which not only increases the speed but also reduces labor intensity and improves the consistency and reliability of the results, thereby improving the efficiency of wind turbine tower assembly.

[0080] In some embodiments, the programmable logic controller in the three-phase asynchronous motor automatic control unit 122 is provided with input signals such as a motor start signal, a motor stop signal, a first servo driver operation signal, a rope encoder stroke setting value, and a rope encoder position signal.

[0081] In some embodiments, the programmable logic controller in the three-phase asynchronous motor automatic control unit 122 is also provided with a second servo driver control signal, a three-phase asynchronous motor target speed signal, a three-phase asynchronous motor actual speed signal, and an encoder target speed signal.

[0082] In some embodiments, the programmable logic controller in the three-phase asynchronous motor automatic control unit 122 is further provided with a difference signal between two three-phase asynchronous motor position signals.

[0083] In some embodiments, the programmable logic controller in the three-phase asynchronous motor automatic control unit 122 also includes a signal indicating whether the rope encoder is running or not.

[0084] In some embodiments, the starting control signal of the three-phase asynchronous motor in the three-phase asynchronous motor automatic control unit 122 is the running signal of the rope encoder. When the rope encoder is in the stopped state, the input of the travel switch signal is started and the operation of the three-phase asynchronous motor is controlled.

[0085] It should be understood that the various forms of processes described above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit them here. The above specific implementation methods do not constitute limitations on the scope of protection of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent pairing system for wind turbine towers, characterized in that: include: Measurement module and motor automatic control module; The measurement module is used for real-time point cloud mapping within a cylinder spacing of L meters; 0＜L＜1； The motor automatic control module is used to control the distance the roller frame moves forward according to the output of the measurement module; The measuring module includes a cylinder spacing measuring unit and a motor control signal output unit; The cylinder spacing measurement unit is composed of a short-distance measurement subunit and a long-distance measurement subunit based on a line laser 3D camera. The long-distance measurement subunit is used to measure the position signal of the first cylinder. When the roller frame approaches a preset distance, the short-distance measurement subunit is activated to detect the relative position of the two cylinders and the distance between the two cylinders. The motor automatic control module includes a motor position acquisition unit and a three-phase asynchronous motor automatic control unit; The motor position acquisition unit outputs a motor self-control signal to the three-phase asynchronous motor self-control unit, and the three-phase asynchronous motor self-control unit outputs a motor control signal to the three-phase asynchronous motor so that the three-phase asynchronous motor controls the travel distance of the roller frame; the motor position acquisition unit includes a three-phase asynchronous motor encoder and a first servo driver, the three-phase asynchronous motor encoder provides a current motor running distance parameter, and the first servo driver controls the input of the motor control signal according to the current motor running distance parameter; the three-phase asynchronous motor self-control unit includes a programmable logic controller and a second servo driver, and the programmable logic controller controls the motor operation through the second servo driver according to the received motor self-control signal.

2. The intelligent pairing system for wind turbine towers according to claim 1, characterized in that: The workflow of the close-range measurement subunit includes: Start the line laser 3D camera to scan, ensure that no area is missed during the scanning process, and obtain data of the laser line at different heights; The collected point cloud data is processed, image processed, calibrated and analyzed to obtain the relative position and drop between the two cylinders; The relative position and drop between the output cylinders are used as input to the motor automatic control module to control the movement of the roller frame.

3. The intelligent pairing system for wind turbine towers according to claim 2, characterized in that: The PID algorithm for the dual closed-loop controller is designed in the motor automatic control module, specifically: Determine the required speed and position of the roller frame; Select the hardware platform, including three-phase asynchronous motor, drive and PLC controller; Build electrical and mechanical models based on the characteristics of the three-phase asynchronous motor and the dynamic characteristics of the roller frame; According to the speed requirements of the roller frame, the inner loop speed control and outer loop position control are designed, and double closed loop control is performed; Complete the electrical connection between the hardware and the controller, and configure the communication protocol to ensure smooth data transmission; Conduct preliminary debugging of the system to verify the performance of the control scheme; Based on the test run results, the control parameters are analyzed and adjusted until the expected performance is achieved; Design a control system to monitor the speed and position of a three-phase asynchronous motor for real-time monitoring and data processing; The inner loop adjusts the motor input based on real-time feedback of speed data, while the outer loop uses the inner loop control results to adjust the motor target position and guide the roller frame to the predetermined position; Monitor the motor's operating status in real time, including temperature, current, and speed, and take appropriate fault handling measures based on the monitoring results; This includes designing fault detection algorithms to detect faults in real time and ensure the safe operation of the system; Conduct overall performance evaluation and optimize control parameters based on test results; Record the system's operating status, including faults, test records, and correction records, to form complete system documentation for easy subsequent maintenance and management.

4. The intelligent pairing system for wind turbine towers according to claim 3, characterized in that: The motor position acquisition unit also includes two draw-wire encoders and a travel switch. The draw-wire encoders acquire and control motor control signals, and the travel switch acquires motor control signals input by the first servo driver to acquire and control the motor running direction and control signals.

5. The intelligent pairing system for wind turbine towers according to claim 4, characterized in that: Processing the collected point cloud data includes: aligning image data collected from multiple viewpoints to build a complete model of the 3D scene; generating a three-dimensional model through the point cloud data, and calculating the position of the outer wall of the cylinder and the gap; and outputting the gap value, the position of the outer wall of the cylinder, and the height of the cylinder by the measurement software.

6. The intelligent pairing system for wind turbine towers according to claim 5, characterized in that: Also includes: Filter the point cloud data to remove noise and outliers; Calculate the normal vector, curvature, and Gaussian value features of the point; Align point cloud data from multiple viewpoints of the same scene to form a complete 3D model; then fuse the aligned point cloud data.

7. The intelligent wind turbine tower pairing system according to claim 6, characterized in that: The motor position acquisition unit in the motor automatic control module is composed of two three-phase asynchronous motors and corresponding three-phase asynchronous motor encoders, which collects the position signals of the three-phase asynchronous motors. The first servo driver uses the preset three-phase asynchronous motor position as the motor control signal input.

8. The intelligent wind turbine tower assembly system according to claim 7, characterized in that: The programmable logic controller in the three-phase asynchronous motor automatic control unit is provided with a motor start signal, a motor stop signal, a second servo driver operation signal, a rope encoder stroke setting value and a rope encoder position signal.

9. The intelligent wind turbine tower assembly system according to claim 8, characterized in that: The programmable logic controller in the three-phase asynchronous motor automatic control unit is also provided with a second servo driver control signal, a three-phase asynchronous motor target speed signal, a three-phase asynchronous motor actual speed signal, and an encoder target speed signal.

10. The intelligent pairing system for wind turbine towers according to claim 9, characterized in that: The programmable logic controller in the three-phase asynchronous motor automatic control unit is also provided with a difference signal between two three-phase asynchronous motor position signals.

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