Equipment installation control method and system based on digital simulation

Abstract

The present invention discloses a device installation control method and system based on digital simulation, belonging to the field of intelligent device technology. The device installation control method based on digital simulation includes: S1, real-time acquisition of the following basic data: M traction point coordinates, hoisting object coordinates, and target coordinates; S2, based on the basic data, calculation of the adjustment parameters that the hoisting object needs to complete in the process of reaching the target coordinates from the hoisting object coordinates: rotation angle, lateral movement distance, and longitudinal movement distance; S3, simulating the device installation process based on the adjustment parameters; if the simulation result is successful, executing S4, otherwise returning to S1; S4, controlling the actions of M traction devices based on the simulated device installation process. The present invention combines communication technology, high-precision measurement technology, and digital control technology to effectively digitally control the device installation work, simulate the installation process, and ensure installation quality.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent devices, and in particular relates to a device installation control method and system based on digital simulation. Background Art

[0002] In recent years, with the rapid development of industrial technology, the types and frequency of large-scale equipment have increased. The installation of large-scale equipment often requires the assistance of large-scale lifting equipment. Currently, the installation method of most large-scale equipment in industrial engineering still follows the traditional installation method, that is, from the measurement of the equipment foundation, the lifting and adjustment of the equipment into position, the adjustment and centering of the components after positioning, to the assembly and welding of equipment components. The entire installation process still relies mainly on engineers to operate traditional measurement tools and lifting equipment, and many processes still rely on manual operators. However, with the development of technology, changes in the market environment and human resources environment, the cost of installation is rising, while the efficiency and quality of installation work have not been effectively improved, resulting in low-quality and inefficient installation results. Summary of the Invention

[0003] The purpose of the present invention is to meet practical needs and provide an equipment installation control method and system based on digital simulation, which combines target detection technology, Internet of Things communication technology and computer technology to achieve efficient equipment installation control.

[0004] To achieve the above technical objectives, the first object of the present invention is to provide an equipment installation control method based on digital simulation, comprising:

[0005] S1. Obtain the following basic data in real time: coordinates of M traction points, coordinates of hoisted objects, and coordinates of targets; M is a natural number greater than 2;

[0006] S2. Based on the basic data, calculate the adjustment parameters that the hoisted object needs to complete in the process of reaching the target coordinates from the hoisted object coordinates: rotation angle, horizontal movement distance, and vertical movement distance;

[0007] S3. Simulate the equipment installation process according to the adjustment parameters; if the simulation result is successful, execute S4; otherwise, return to S1;

[0008] S4. Control the actions of the M traction devices according to the process of simulating the device installation.

[0009] Preferably, in S1, basic data is acquired using a laser tracking instrument.

[0010] Preferably, S2 is specifically:

[0011] S201. First, obtain the coordinates of M lifting points on the lifting object, where the M lifting points form a polygon; calculate the geometric center of the polygon, that is, the real-time center G of the lifting object;

[0012] S202, calculating the geometric center of the hoisted object at the target position, that is, the target center G';

[0013] S203 , calculating the rotation angle, lateral movement distance, and longitudinal movement distance that each traction head needs to adjust based on the real-time center G and the target center G′.

[0014] Preferably, M=4, and the four hanging points are located in the same plane.

[0015] Preferably, S201 includes: connecting the diagonals of the quadrilateral to further divide it into four triangles, first calculating the geometric center of each triangle, and then connecting the diagonals of the quadrilateral formed by the four geometric centers, and defining the intersection of the connecting lines as the geometric centers of the four lifting points.

[0016] Preferably, the geometric center of each triangle is calculated as follows:

[0017] Let the coordinates of the geometric center of the triangle be G(X G ,Y G ), where: (x0, y0), (x1, y1), (x2, y2) are the coordinates of the three corners of the triangle;

[0018] X G =(x0+x1+x2) / 3;

[0019] Y G =(y0+y1+y2) / 3;

[0020] G=(X G ,Y G );

[0021] The coordinates of the intersection points of the four geometric center connecting lines are calculated by dividing the geometric figure into four triangle center point connecting lines. The calculation formula is as follows:

[0022] Y1=k1x+b1;

[0023] Y2=k2x+b2;

[0024] k1x+b1=k2x+b2;

[0025] You can get the coordinate of x, and then substitute x into the equation Y1=k1x+b1 to get y, where (x,y) is the coordinate of the intersection point.

[0026] Preferably, S203 includes:

[0027] The rotation angle D is calculated according to the following formula:

[0028] x2=(x1-x)cosD-(y1-y)sinA+x;

[0029] y2=(y1-y)cosD-(x1-x)sinA+y;

[0030] When calculating the corresponding rotation angle, the length change of each traction rope is:

[0031] Step 1: Calculate the angle between the three coordinates of the center point G, a certain traction point A of the hoisted object, and the target position B of the traction point A through vector calculation;

[0032] Step 2: Calculate the coordinates of the three coordinate points after rotating by angle a;

[0033] Step 3: Calculate the length after rotating by angle a; specifically:

[0034] Assuming the center point is G(x0,y0,z0), calculate the angle between the two points;

[0035] The coordinates of point A are (x1, y1, z0), and the coordinates of point B are (x2, y2, z0). The vector is used to determine whether the hoisted object rotates clockwise or counterclockwise;

[0036] Then, ∠AGB=arcos[(x1-x0)*(x2-x0)+(y1-y0)*(y2-y0)] / [√((x1-x0) 2 +(y1-y0) 2 )*√

[0037] ((x2-x0) 2 +(y2-y0) 2 )], if ∠AGB is greater than 0, it is clockwise, otherwise it is counterclockwise;

[0038] Assume that a coordinate point A(x1,y1,z0) is rotated counterclockwise by an angle a and its new coordinates are set to (x',y',z ’ ), there is a formula:

[0039] x'=(x1-x0)cosα+(y1-y0)sinα+x0

[0040] y'=-(x1-x0)sinα+(y1-y0)cosα+y0

[0041] z'=z0

[0042] Assume that after point A rotates by angle a, the length of the traction rope changes to C, then

[0043] C=√((x1-(x1-x0)cosα+(y1-y0)sinα+x0) 2 +(y1-(-(x1-x0)sinα+(y1-y0)cosα+y0) 2 )-√

[0044] (x1-x0) 2 +(y1-y0) 2 .

[0045] A second object of the present invention is to provide an equipment installation control system based on digital simulation, comprising:

[0046] Position sensors for acquiring basic data;

[0047] A controller used to obtain basic data output by the position sensor, analyze the basic data, and control the action of the lifting equipment based on the analysis results; wherein:

[0048] The controller includes a three-dimensional model module of the equipment, a signal receiving module, a data analysis module, an installation simulation module, an instruction generation module and an instruction issuing module.

[0049] Preferably, the position sensor is a laser tracking instrument.

[0050] Preferably, the equipment includes a tractor, a laser tracking instrument, a hoisting

[0051] Compared with the prior art, the advantages and positive effects of this application are:

[0052] Aiming at the needs of large-scale equipment installation, the present invention combines communication technology, high-precision intelligent measurement technology, and digital control technology. Through digital design, digital measurement, intelligent operation, and automated control, the installation of equipment is effectively digitally planned and designed. Digital means are used to ensure the installation process and quality, and the main installation processes can be operated with fewer or no people, which greatly reduces the requirements for technical skills. Therefore, the demand for human resources and technical level can be effectively reduced, the consumption of total human resources can be reduced, and the quality and efficiency of installation work can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 A flow chart showing an embodiment of the present invention is shown;

[0055] Figure 2 A three-dimensional diagram of a hoisted object and a tractor according to an embodiment of the present invention is shown;

[0056] Figure 3 A plan view of a hoisted object and a tractor in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0059] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0060] like Figures 1 to 3 As shown, the present invention provides a device installation control method based on digital simulation, comprising:

[0061] S1. Use a laser tracking instrument to obtain basic data, that is, obtain the following basic data in real time: M traction point coordinates, hoisting object coordinates, and target coordinates; M is a natural number greater than 2;

[0062] S2. Based on the basic data, calculate the adjustment parameters that the hoisted object needs to complete in the process of reaching the target coordinates from the hoisted object coordinates: rotation angle, horizontal movement distance, and vertical movement distance; specifically:

[0063] S201. First, obtain the coordinates of M lifting points on the lifting object, where the M lifting points form a polygon; calculate the geometric center of the polygon, that is, the real-time center G of the lifting object;

[0064] S202, calculating the geometric center of the hoisted object at the target position, that is, the target center G';

[0065] S203, calculating the rotation angle, lateral movement distance, and longitudinal movement distance that each traction head needs to adjust based on the real-time center G and the target center G';

[0066] S201 includes: dividing the polygon into a plurality of triangles, first calculating the geometric center of each triangle, and then defining the intersection of a plurality of geometric center connection lines as the geometric center of the polygon.

[0067] The geometric center of each triangle is calculated as:

[0068] Assume that the polygon is a quadrilateral and is divided into two triangles. Assume that the coordinates of the three points of one triangle are (x0, y0), (x1, y1), (x2, y2), then the center of the triangle is G(X G ,Y G ), and so on to calculate the centers of the other three triangles. A quadrilateral is divided into four triangles by two diagonals. Calculate the centers of the four triangles separately, and then calculate the formula for the line segments where the two diagonals of the quadrilateral are located:

[0069] X G =(x0+x1+x2) / 3

[0070] Y G =(y0+y1+y2) / 3

[0071] G=(X G ,Y G );

[0072] The coordinates of the intersection points of the geometric center lines are calculated by calculating the linear equations of the geometric center lines:

[0073] Y1=k1x+b1

[0074] Y2=k2x+b2

[0075] k1x+b1=k2x+b2 to get the coordinate of x, and then substitute x into the equation Y1=k1x+b1 to get y, where x and y are the coordinates of the intersection point.

[0076] S203 includes:

[0077] The rotation angle D is calculated according to the following formula:

[0078] x2=(x1-x)cosD-(y1-y)sinA+x;

[0079] y2=(y1-y)cosD-(x1-x)sinA+y

[0080] When calculating the corresponding rotation angle, the length change of each traction rope is:

[0081] Step 1: Calculate the angle between three coordinates (traction point A, the center point G of the geometric figure formed by multiple traction points, and the coordinate B of traction point A at the target position) through vector calculation;

[0082] Step 2: Calculate the coordinates of the coordinate point after rotating by angle a;

[0083] Step 3: Calculate the length after rotating by angle a;

[0084] Calculate the angle between two points, assuming the center point is G(x0,y0,z0)

[0085] The coordinates of point A are (x1, y1, z0), and the coordinates of point B are (x2, y2, z0). The vector is used to determine whether the hoisted object rotates clockwise or counterclockwise;

[0086] Then, ∠AGB=arcos[(x1-x0)*(x2-x0)+(y1-y0)*(y2-y0)] / [√((x1-x0) 2 +(y1-y0) 2 )*√

[0087] ((x2-x0) 2 +(y2-y0) 2 )], if ∠AGB is greater than 0, it is clockwise, otherwise it is counterclockwise;

[0088] Assume that a coordinate point A(x1,y1,z0) is rotated counterclockwise by an angle a and its new coordinates are set to (x',y',z ’ ), there is a formula:

[0089] x'=(x1-x0)cosα+(y1-y0)sinα+x0

[0090] y'=-(x1-x0)sinα+(y1-y0)cosα+y0

[0091] z'=z0

[0092] Assume that after point A rotates by angle a, the length of the traction rope changes to C, then

[0093] C=√((x1-(x1-x0)cosα+(y1-y0)sinα+x0) 2 +(y1-(-(x1-x0)sinα+(y1-y0)cosα+y0) 2 )-√

[0094] (x1-x0) 2 +(y1-y0) 2 .

[0095] S3. Simulate the equipment installation process according to the adjustment parameters; if the simulation result is successful, execute S4; otherwise, return to S1;

[0096] S4. Control the actions of the M traction devices according to the process of simulating the device installation.

[0097] In this embodiment: M=4.

[0098] An equipment installation control system based on digital simulation, comprising:

[0099] Position sensors for acquiring basic data;

[0100] A controller for obtaining basic data output by a position sensor, analyzing the basic data, and controlling the movement of the lifting equipment according to the analysis results; the position sensor is a laser tracking instrument; wherein:

[0101] The controller includes a three-dimensional model module of the equipment, a signal receiving module, a data analysis module, an installation simulation module, an instruction generation module and an instruction issuing module; the equipment includes a tractor, a laser tracking instrument and a hoisted object.

[0102] The present invention is mainly used in the installation process of industrial equipment. It adopts a digital and intelligent integrated approach to achieve the effect of reducing the number of people and even unmanning the installation of traditional equipment. That is, a system is formed by controlling multiple traction devices to coordinate work through digital communication between multiple devices to achieve the expected installation effect. First, the starting position and target position of the equipment (including traction machines, laser tracking instruments, hoisting objects, etc.) are measured by a high-precision position measuring instrument (for example, basic data can be obtained by using a laser tracking instrument). The angle that needs to be adjusted for each traction point of the equipment, the horizontal and vertical distances to be moved, and the movement trajectory of the equipment are obtained through an algorithm. The data obtained by the algorithm are transmitted to each traction device and hoisting device in real time through network communication, so that multiple traction devices can work synchronously and coordinatedly.

[0103] In view of the fact that the installation of large equipment in industrial engineering currently relies mainly on cranes and manpower, the present invention is a digital and intelligent control system. The system integrates the coordinate data returned by the laser tracker and the data received by the servo motor, and integrates the crane, laser tracker and servo motor to form a complete system, which can achieve accurate positioning during the object lifting process and achieve less manpower.

[0104] The implementation methods include: building a base for the servo motor, measuring the geodetic coordinates of the servo motor, the coordinates of the coordinate system, the geodetic coordinates and coordinate system coordinates of the hoisted object in the air, measuring the coordinates of the hoisted object and the traction point of the servo motor, entering the above information into the control system, and the algorithm obtains the result through calculation. The result is then converted into a data format that the servo motor can receive and transmitted to the servo motor, and the motor starts to run synchronously.

[0105] In order to control the accuracy of the system, multiple servo motors are used during the traction process to reduce errors caused by external factors. At the same time, for the convenience of operation and higher practicality, each step of the system can be paused at any time and repeated (corrected).

[0106] The following embodiment takes four tractors as an example:

[0107] See also Figure 2 and Figure 3 Taking a rectangular parallelepiped as an example, the four vertices on the upper surface of the hoisting object are traction points. Each traction point is connected to a traction rope, and the power of the traction rope is provided by a servo motor.

[0108] Assume that the coordinates of each point are as follows:

[0109] A(x0,y0,z0)B(x1,y1,z0)C(x2,y2,z0)D(x3,y3,z0)

[0110] A'(x4,y4,z1)B'(x5,y5,z1)C'(x6,y6,z1)D'(x7,y7,z1)

[0111] Algorithm steps: divided into two levels, horizontal and vertical calculations, the model diagram is as follows:

[0112] The calculation process in the horizontal direction is as follows Figure 1 As shown;

[0113] Computing the geometric center

[0114] 1) First, obtain the geometric center coordinates of the polygon formed by the traction points based on the coordinates of the hoisted object. Divide the quadrilateral into two triangles by connecting the two diagonals. Calculate the geometric centers of the two triangles respectively, and then connect the geometric centers of the two triangles.

[0115] 2) Connect the two outer opposite corners of the quadrilateral to obtain the geometric centers of the other two triangles, and connect the geometric centers of the two triangles;

[0116] 3) The intersection of the lines connecting the geometric centers of the four triangles is the geometric center of the quadrilateral;

[0117] 4) Calculation formula for the geometric center of a triangle

[0118] X G =(x0+x1+x2) / 3

[0119] Y G =(y0+y1+y2) / 3

[0120] G=(X G ,Y G )

[0121] The geometric center of a triangle is the intersection of the three medians of the triangle;

[0122] 5) When the four geometric centers of the four triangles are known, calculate the coordinates of the four intersection points;

[0123] L1:(X G0 ,Y G0 ),(X G1 ,Y G1 )

[0124] L2:(X G2 ,Y G2 ),(X G3 ,Y G3 )

[0125] The slope of L1 is k1=(Y G0 -Y G1 ) / (X G0 -X G1 )

[0126] The slope of L2 is k2=(Y G3 -Y G2 ) / (X G3 -X G2 )

[0127] If the intercepts of the two lines on the Y axis are B1 and B2

[0128] Then L1:y=k1X+B1

[0129] B1=y-k1X=>B1=Y G0 -(Y G0 -Y G1 ) / (X G0 -X G1 )X G0

[0130] L2:y=k2X+B2

[0131] B2=y-k2X=>B2=Y G3 -(Y G3 -Y G2 ) / (X G3 -X G2 )X G3

[0132] Intersection coordinates: [(B2-B1) / (K1-K2), (B2K1-B1K2) / (K1-K2)]

[0133] Horizontal migration algorithm

[0134] Horizontal migration is to move the center of the hoisted object to just above the target point;

[0135] The distance from the servo motor to the moving line of the geometric center of the hoisted object can be obtained by calculation. The moving line of the geometric center of the hoisted object can be obtained by the geometric center of the current hoisted object and the geometric center of the target position.

[0136] That is, assuming that the vertical distance between the servo motor 1 and the moving track is x meters, the distance between the vertical point and the geometric center of the hoisted object is m meters, and the length of the traction line of the servo motor is y meters, then y=√(m 2 +x 2 )

[0137] So when the length of m changes by △x, assuming the distance of the traction line changes by △y, then (y+△y) 2 =(m+△x) 2 +x 2

[0138] △y=√((m+△x) 2 +x 2 )-y

[0139] The change in rope length of each traction rope is calculated in the same way. The servo motors operate in coordination and have the same operating time. The ratio of the change in rope length is the ratio of the frequency of each servo motor, and the calculation is divided in seconds.

[0140] Vertical migration algorithm

[0141] Vertical migration is a coordinated operation in the vertical direction. The principle is the same as that in the horizontal direction, but the value in the vertical direction changes.

[0142] The distance from the servo motor to the geometric center point directly below the target object (the x and y coordinates are consistent with the coordinates of the target position, and the z coordinate is consistent with the z coordinate of the servo motor) can be calculated through coordinates. The coordinates of the current geometric center of the hoisted object are also known. Assume that the distance from the servo motor to the lowest point of the geometric center of the target object is m meters, and the distance from the current geometric center of the hoisted object to the geometric center point directly below the target object is n meters.

[0143] Then the length of the traction rope corresponding to the servo motor is y=√(m 2 +n 2 ), when the vertical height changes by △n,

[0144] Then the length change of the corresponding servo motor traction rope is △y=√(m 2 +(n-△n) 2 )-y,

[0145] When △y<0, it means that the traction rope is contracted, from which the length change of each traction rope can be calculated. Since the scaling time is the same, the change in rope length is the frequency change corresponding to each servo motor.

[0146] Horizontal rotation

[0147] During the hoisting process, objects will inevitably rotate, or the starting position of the object is not parallel to the target position. During installation, the hoisted object needs to be adjusted at a certain angle. The adjustment angles of each traction point are the same, so you only need to calculate the rotation angle of one point.

[0148] During the rotation process, the calculation is based on the rotation angle. All traction points rotate at the same time and the rotation angle is consistent. The difference is the distance between each traction point and the geometric center of the hoisted object, which affects the rotation. When each traction point rotates at the same angle, the change in rope length is different.

[0149] During the rotation process, the changes in the length of each traction rope are actually calculated when the traction rope rotates clockwise or counterclockwise. The solid line is the length of each traction rope after rotation. Calculus is needed to calculate the changes in the traction rope at each moment and the final length of the traction rope in real time. Finally, the corresponding angle and the length of the traction rope are used to detect whether the operation is completed.

[0150] Take one of the traction points as an example to illustrate;

[0151] Point G is the geometric center of each traction point of the hoisted object. If the hoisted object needs to rotate at an angle of 10 degrees and the hoisted object rotates 2 degrees per second, the actual calculation is the change in rope length at each traction point when the hoisted object rotates 2 degrees. That is, the rotation angle from the blue line to the dotted red line. The rope length change is the length of the red dotted line minus the length of the solid line. Assuming the rope length change is dx meters, the algorithm steps are as follows:

[0152] Calculate the current length of the traction rope (assuming it is m)

[0153] Calculate the coordinates of the traction point after rotating 2 degrees

[0154] Solution ideas:

[0155] Given that the coordinates of G are (x, y, z), and the coordinates of the traction point are (x1, y1, z), assume that the coordinates after rotation by 2 degrees are (x2, y2, z)

[0156] The two coordinates r and θ in the polar coordinate system can be converted to coordinate values ​​in the rectangular coordinate system by the following formula.

[0157] x=r*cos(θ),

[0158] y=r*sin(θ),

[0159] Then, we make a circle with (x2, y2) as the center and r as the radius (the radius is the distance from point (x1, y1) to (x2, y2))

[0160] The circle equation corresponding to the point (x1, y1) is:

[0161] x1-x2=r*cosθ1

[0162] y1-y2=r*sinθ1

[0163] The circle equation corresponding to the point (x, y) is:

[0164] x-x2=r*cos(θ1+θ)

[0165] y-y2=r*sin(θ2+θ)

[0166] Further expand the equation of point (x, y) to obtain

[0167] x-x2=r*cos(θ1+θ)=r*cosθ1*cosθ-r*sinθ1*sinθ=(x1-x2)cosθ-(y1-y2)sinθ

[0168] y-y2=r*sin(θ2+θ)=r*sinθ1cosθ+r*cosθ1*sinθ=(y1-y2)cosθ+(x1-x2)sinθ

[0169] Then x2=(x1-x)cos2-(y1-y)sin2+x

[0170] y2=(y1-y)cos2-(x1-x)sin2+y

[0171] Calculate the length n meters after rotation according to the coordinates

[0172] dx=nm

[0173] Convert dx into corresponding frequency and signal;

[0174] control system

[0175] The control system associates the algorithm with each device, transmits the coordinate information of the device to the algorithm through the control system, and returns the data calculated by the algorithm to each servo motor. In order to increase flexibility, the system uses some data as parameters as much as possible, and has a cache function to record some fixed data during the migration process, such as the coordinates of each hoisting object, and the final length of each traction rope (used to increase verification parameters), control mode (manual, automatic), operating status (start and stop at any time), and control the status and number of available servo motors.

[0176] The control system is the bridge that connects various devices. Various devices can communicate with each other through the control system. The control system can control which servo motors are used and transmit data to the corresponding servo units in unit time to ensure that each servo motor operates in a coordinated and consistent manner within each time period.

[0177] Simulation

[0178] The simulation is divided into three parts according to the actual migration: horizontal migration, horizontal rotation, and vertical migration.

[0179] S1. Equipment and basic 3D models

[0180] S2. Import the model into the laser measuring instrument system

[0181] S3. LAN construction

[0182] The purpose of building a local area network is to connect traction equipment such as servo motors and control systems with the control system, and to connect the entire process by transmitting data between them.

[0183] S4. Servo motor installation

[0184] The installation of the servo motor requires ensuring the flatness of the ground at the installation location and ensuring that the motor is installed on a parallel surface. The servo motor is a traction device and needs to be used in conjunction with a winch to ensure the accuracy of the data and reduce the impact of errors.

[0185] S5. Measure the coordinates of the servo motor

[0186] The coordinates in the servo motor actually measure the coordinates of the end point of the traction rope, which is used to calculate the length of the rope and the change in the rope length.

[0187] S6. Coordinates of the measuring equipment foundation and lifting equipment identification points (starting point)

[0188] The main purpose of measuring the coordinates of the hoisted object is to calculate the path of the hoisted object and the rope length at each point during the migration process. The coordinates that need to be measured include the geodetic coordinates and coordinate system coordinates of the starting point of the hoisting object's traction, and the geodetic coordinates and coordinate system coordinates of the hoisting object's destination, so as to calculate the path and the corresponding change in the length of the traction rope per unit time through an algorithm.

[0189] S7, coordinate data is entered into the control system

[0190] S8. Calculate process data through algorithms (add calculation process)

[0191] 1) Calculate basic data

[0192] Calculate the geometric center of the polygon formed by the connection points of the hoisted object

[0193] Calculate the geometric center position corresponding to the target

[0194] 2) Horizontal migration

[0195] Calculating horizontal migration routes

[0196] Migrate at the specified speed and calculate the corresponding contraction speed of the traction rope

[0197] Store and cache in unit time

[0198] 3) Horizontal rotation

[0199] Calculate the actual coordinates corresponding to each traction point

[0200] Calculate the corresponding traction rope retraction speed and length according to the specified speed

[0201] Split calculations by unit time and cache

[0202] 4) Vertical migration

[0203] Calculate the scaled length of each traction rope descending to the same height in one unit time (calculated once per unit time)

[0204] S9. Process simulation through data

[0205] Based on the measured coordinate data, the algorithm obtains the corresponding result data and transmits the result data to the simulation module to demonstrate in advance through simulation whether the migration can be carried out according to the expected results.

[0206] S10, process data is transmitted to the servo motor via the local area network

[0207] The result obtained by the algorithm is transmitted to the servo motor through the local area network, and the servo motor responds according to the transmitted data.

[0208] S11, control system execution

[0209] Horizontal migration

[0210] Horizontal rotation

[0211] vertical migration

[0212] S12: Test and verify. If the verification fails, proceed to step 6.

[0213] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A device installation control method based on digital simulation, characterized in that: include: S1. Obtain the following basic data in real time: coordinates of four traction points, coordinates of the hoisted object, and coordinates of the target, with the four hoisting points located in the same plane; S2. Based on the basic data, calculate the adjustment parameters that the hoisted object needs to complete in the process of reaching the target coordinates from the hoisted object coordinates: rotation angle, horizontal movement distance, and vertical movement distance; specifically: S201. First, obtain the coordinates of four lifting points on the hoisted object. The four lifting points form a polygon. Calculate the geometric center of the polygon, i.e., the real-time center G of the hoisted object. Specifically, the diagonals of the quadrilateral are connected to form four triangles. The geometric center of each triangle is calculated first, and then the diagonals of the quadrilateral formed by the four geometric centers are connected. The intersection of the connecting lines is defined as the geometric center of the four lifting points. The geometric center of each triangle is calculated as follows: Let the coordinates of the geometric center of the triangle be ,in: 、 、 are the coordinates of the three corners of the triangle; ； ； ； The coordinates of the intersection points of the four geometric center connecting lines are calculated by dividing the geometric figure into four triangle center point connecting lines. The calculation formula is as follows: ； ； ； You can get The coordinates of Bring in Equation, we can get , are the coordinates of the intersection point; S202, calculate the geometric center of the hoisted object at the target position, that is, the target center ; S203, according to the real-time center and target center , calculate the rotation angle, lateral movement distance, and longitudinal movement distance that each traction head needs to adjust; When calculating the corresponding rotation angle, the length change of each traction rope is: Step 1: Calculate the center point by vector , the angle between the coordinates of a certain traction point A of the hoisted object and the target position B of the traction point A; Step 2: Calculate the coordinates of the three coordinate points after rotating by angle a; Step 3: Calculate the length after rotating by angle a; specifically: Assume the center point is , calculate the angle between two points; The coordinates of point A are , the coordinates of point B are ,The vector is used to determine whether the hoisted object rotates clockwise or counterclockwise; but, , If ∠AGB is greater than 0, it is clockwise, otherwise it is counterclockwise; Assume a coordinate point A The new coordinate after rotating counterclockwise by angle a is set to , there is a formula: ； ； Assume that after point A rotates by angle a, the length of the traction rope changes to C, then: S3. Simulate the device installation process based on the adjusted parameters. If the simulation result is successful, execute S4; otherwise, return to S1. The simulation is divided into three parts according to the actual migration: horizontal migration, horizontal rotation, and vertical migration. Specifically, it includes: S301, equipment and foundation three-dimensional model; S302, importing the model into the laser measuring instrument system; S303, local area network construction; S304, servo motor installation; S305, measuring the servo motor coordinates; S306. Measuring the coordinates of the equipment foundation and the lifting equipment identification points; S307, input the coordinate data into the control system; S308, calculating process data through an algorithm; S4. Control the actions of the M traction devices according to the process of simulating the device installation.

2. The device installation control method based on digital simulation according to claim 1, characterized in that: In S1, a laser tracking instrument is used to obtain basic data.

3. An equipment installation control system based on digital simulation, characterized in that: For implementing the equipment installation control method according to claim 1 or 2, the equipment installation control system includes: Position sensors for acquiring basic data; A controller used to obtain basic data output by the position sensor, analyze the basic data, and control the action of the lifting equipment based on the analysis results; wherein: The controller includes a three-dimensional model module of the equipment, a signal receiving module, a data analysis module, an installation simulation module, an instruction generation module and an instruction issuing module.

4. The equipment installation control system based on digital simulation according to claim 3 is characterized in that: The position sensor is a laser tracking instrument.

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