A Safety Early Warning Method for Lifting Processes Based on Digital Twin

Abstract

A safety warning method for the hoisting process based on digital twin, comprising the following steps: S1, collect the shape data of the hoisting environment, hoisting equipment and hoisting parts, and establish a three-dimensional entity model; S2, determine the initial three-dimensional position relationship between the hoisting parts, hoisting equipment and hoisting environment, and establish a preliminary digital twin model; S3, collect the displacement data obtained by the hoisting equipment and hoisting parts through the ranging terminal during the hoisting process, and perform iterative optimization of the model; S4, predict the subsequent position and attitude of the hoisting parts during the hoisting process; S5, set a safety threshold in the digital twin model, and if there is a possibility of collision or the performance parameters of the hoisting process exceed the safety threshold, send out a warning message. Compared with the traditional hoisting method, using the digital twin model in the hoisting operation of large parts can improve the hoisting efficiency and hoisting accuracy, and realize the simulation prediction and safety warning of the hoisting process.

Description

Technical Field

[0001] The present invention relates to the technical field of large part hoisting, and particularly to a safety warning method for hoisting process based on digital twin. Background Art

[0002] In recent years, with the booming development of the manufacturing industry, China has been able to design and produce large-capacity hydroturbines. The main components used in large-capacity hydroturbines are large in volume and high in weight, and hoisting is required during installation. Hoisting efficiency, hoisting accuracy and the safety of the hoisting process will directly affect the normal progress of the hoisting of large parts of the hydroturbine. Safety monitoring of the hoisting process of large parts is one of the important means to ensure hoisting quality and hoisting efficiency.

[0003] For the hoisting of large parts, most of the current methods are traditional hoisting methods, which are completed through voice communication between on-site construction personnel and hoisting equipment operators, and installation personnel conduct on-site monitoring to judge hoisting quality. The timeliness is poor, and it is difficult to track and handle problems that occur during the hoisting process in real time. The traditional hoisting method not only has low hoisting efficiency, but also cannot guarantee hoisting accuracy and safety. Under the background of the development of existing large equipment manufacturing and future new construction technologies, there is an urgent need for new methods for safety warning during the hoisting process.

[0004] Digital twin is to establish a multi-dimensional, multi-scale, multi-physical quantity and multi-disciplinary dynamic virtual model of a physical entity in a digital way to simulate and depict the attributes, behaviors, rules, etc. of the physical entity in the real environment. As a key enabling technology to solve the problem of information-physical fusion in intelligent manufacturing and to practice the concept and goal of intelligent manufacturing, digital twin has received extensive attention and research in the academic community, and has been introduced by the industrial community into more and more fields for implementation and application. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to solve the problems existing in the above background art, and provide a safety warning method for hoisting process based on digital twin. Compared with the traditional hoisting method, due to the characteristics of digital twin such as virtual-real fusion and real-time interaction, iterative operation and optimization, and full-process data drive, using a digital twin model in the hoisting operation of large parts can improve hoisting efficiency and hoisting accuracy, and realize simulation prediction and safety warning of the hoisting process.

[0006] To solve the above technical problem, the technical solution adopted by the present invention is: a safety warning method for hoisting process based on digital twin, including the following steps,

[0007] S1. Collect the shape data of the hoisting environment, hoisting equipment and hoisting parts, and establish a three-dimensional solid model according to the obtained shape data;

[0008] S2. Determine the initial three-dimensional position relationship among the hoisting parts, hoisting equipment, and hoisting environment, establish a three-dimensional geometric model of the hoisting site, and establish motion models of the hoisting environment, hoisting equipment, and hoisting parts from four dimensions: geometry, physics, behavior, and rules to establish a preliminary digital twin model;

[0009] S3. Collect the displacement data of the hoisting equipment and hoisting parts relative to the hoisting environment obtained by the hoisting equipment and hoisting parts through the ranging terminal during the hoisting process, and perform iterative optimization of the model;

[0010] S4. Continuously collect the operation data of the hoisting equipment and the position information of the hoisting parts relative to the hoisting environment during the actual hoisting process, and synchronize the data to the digital twin model to achieve synchronous simulation of the digital twin model, and predict the subsequent positions and postures of the hoisting parts during the hoisting process;

[0011] S5. Set a safety threshold in the digital twin model. If the digital twin model predicts a possible collision between the hoisting parts and the hoisting equipment or the hoisting environment during the hoisting process or the performance parameters of the hoisting process exceed the safety threshold, the digital twin model makes a judgment and issues a warning message.

[0012] In S1, collect the shape data of the hoisting environment and hoisting equipment through a three-dimensional scanning device. The three-dimensional solid data of the hoisting parts can be measured after the parts are manufactured or scanned on the hoisting site. According to the obtained shape data, use modeling software to establish a three-dimensional solid model; wherein the hoisting environment includes fixed buildings around the hoisting area and hoisting foundation pits; the hoisting equipment includes cranes; the hoisting parts include the water intake components, guide water components, working components, and drainage components of the water turbine.

[0013] In S2, establish a hoisting environment coordinate system with the center of the hoisting foundation pit as the reference, determine the initial three-dimensional position relationship among the hoisting parts, hoisting equipment, and the hoisting environment coordinate system, and establish a three-dimensional geometric model of the hoisting site; wherein in the geometric dimension, a three-dimensional solid model is constructed from the shapes, sizes, positions, and assembly relationships of the hoisting environment, hoisting equipment, and hoisting parts. In the physical dimension, modeling is carried out from the physical property parameters and motion states of the hoisting equipment and hoisting parts. In the behavior dimension, based on the overall hoisting process, according to the established three-dimensional geometric model of the hoisting site, use simulation software to simulate the evolutionary behavior changing with time during the hoisting process, and feedback the changes in the physical property parameters and motion states of the hoisting equipment and hoisting parts obtained to the three-dimensional geometric model of the hoisting site. In the rule dimension, based on relevant standards and guidelines, control and guide the established digital twin model.

[0014] In S2, use a hoisting positioning algorithm to obtain the position relationship between the hoisting parts and the hoisting environment coordinate system;

[0015] First, obtain the coordinates of the center of the hoisting part in the hoisting environment coordinate system before hoisting and the final installation coordinates of the center of the hoisting part in the hoisting environment coordinate system , as well as the coordinates of several ranging terminals installed on the hoisting part in the three-dimensional coordinate system with the center of the hoisting part as the origin , ,…, , calculate the target coordinates of the ranging terminals in the hoisting environment coordinate system with the center of the hoisting part as the reference :

[0016] ,

[0017] ,

[0018] ;

[0019] Thus, obtain the target coordinates of each ranging terminal , , , during the hoisting process, the displacements of the corresponding points measured by the ranging terminals along the axis are respectively , and obtain the coordinates of the corresponding points of the hoisting part at the ranging terminals during the hoisting process as:

[0020] ,

[0021] ,

[0022] ;

[0023] Thus, determine the measured coordinates of each ranging terminal during the hoisting process, and the angles between the line segments connecting the ranging terminals and the origin of the hoisting environment coordinate system and each coordinate axis are respectively:

[0024] ,

[0025] ,

[0026] ;

[0027] Thus, solve for the coordinates of the center of the hoisting part during the hoisting process according to the initial position relationship between the ranging terminal and the center of the hoisting part, that is, from the following equations:

[0028] ,

[0029] ,

[0030] ;

[0031] The measured coordinates of the hoisting part are solved as , after obtaining the measured coordinates of each point, through calculation with the final installation coordinates , the direction and distance S between each measuring point and the final installation coordinates are solved, and then the positional relationship between the hoisting part and the hoisting environment coordinate system during the hoisting process is obtained.

[0032] In S3, according to the motion model in S2, the displacement data of the hoisting equipment and the hoisting part relative to the hoisting environment obtained by the ranging terminals on the hoisting equipment and the hoisting part during the actual hoisting process are collected and fed back to the initially established digital twin model. If the simulation result of the digital twin model is inconsistent with the actual situation, the model is corrected to make the output result of the digital twin model closer to the actual physical process.

[0033] In S4, during actual hoisting, the operation data of the hoisting equipment and the position information of the hoisting part relative to the hoisting environment are continuously obtained and synchronized to the digital twin model to achieve synchronous simulation of the digital twin model;

[0034] During the hoisting process, the digital twin model changes with the relative positions of the hoisting equipment and the hoisting part and the hoisting environment. The displacement data of the hoisting equipment and the hoisting part are obtained at fixed time intervals. The specific positional relationship between the hoisting part and the hoisting environment at the current moment is obtained by using the hoisting positioning algorithm. The virtual entities in the digital twin model change their relative positions according to the input motion data of the hoisting part. The displacement curves of each measuring point including the center of the hoisting part are fitted according to the collected displacement data, and then the velocity and acceleration information of each measuring point are obtained. The displacement, velocity, and acceleration state information of the corresponding measuring point at the next moment are obtained by fitting the curve, which is reflected in the digital twin model to obtain the relative positional relationship between the hoisting part and the hoisting environment at the next moment, as well as the swinging and twisting states of the hoisting part, so as to predict the subsequent position and attitude of the hoisting part during the hoisting process.

[0035] In S5, during the hoisting process, according to the movement of the hoisted parts and hoisting equipment relative to the hoisting environment, the virtual entities in the digital twin model will also change accordingly. A safety threshold is set in the digital twin model. If during the hoisting process, the digital twin model predicts the possibility of collision between the hoisted parts and the hoisting equipment or the hoisting environment, or the performance parameters of the hoisting process exceed the safety threshold, the digital twin model makes a judgment and sends a warning message to the outside to remind the technicians that there are safety risks in the hoisting process. Among them, setting the safety threshold in the digital twin model includes the distance between the hoisted parts and the edge of the hoisting foundation pit, the swing amplitude of the hoisted parts, the torsion angle of the hoisted parts, and the position and direction of the measured coordinates and installation coordinates of the important installation points of the hoisted parts.

[0036] The present invention has the following beneficial effects:

[0037] 1. By obtaining the data parameters of the hoisting site environment, hoisting equipment and hoisted parts, the present invention establishes a corresponding digital twin model, enabling users to simulate the hoisting process of parts in real time when hoisting large parts, realizing the whole-process monitoring of hoisting, and the digital twin model based on actual data can synchronously fit the three-dimensional position relationship between the parts and the surrounding environment during hoisting, providing visual analysis.

[0038] 2. By performing digital twin modeling and analysis on the hoisting process, based on actual parameters, the present invention realizes the three-dimensional position measurement of the hoisted parts, and judges the possible risks in the actual hoisting process by judging the interference relationship between the hoisted parts and the hoisting environment, realizing the safety warning of the hoisting process and improving the hoisting safety. Description of the Drawings

[0039] The following further describes the present invention with reference to the drawings and embodiments:

[0040] Figure 1 is the flowchart of the method of the present invention.

[0041] Figure 2 is the schematic diagram of the positional relationship between the hoisted parts and the coordinate system of the hoisting environment of the present invention. Detailed Embodiments

[0042] See Figure 1 , a safety warning method for hoisting process based on digital twin, including the following steps,

[0043] S1. Collect the shape data of the hoisting environment, hoisting equipment and hoisted parts, and establish a three-dimensional entity model according to the obtained shape data;

[0044] S2. Determine the initial three-dimensional positional relationship among the hoisting parts, hoisting equipment, and hoisting environment, establish a three-dimensional geometric model of the hoisting site, and establish motion models of the hoisting environment, hoisting equipment, and hoisting parts from four dimensions: geometry, physics, behavior, and rules to establish a preliminary digital twin model;

[0045] S3. Collect the displacement data of the hoisting equipment and hoisting parts relative to the hoisting environment obtained by the hoisting equipment and hoisting parts through the ranging terminal during the hoisting process, and perform iterative optimization of the model;

[0046] S4. Continuously collect the operation data of the hoisting equipment and the position information of the hoisting parts relative to the hoisting environment during the actual hoisting process, and synchronize the data to the digital twin model to achieve synchronous simulation of the digital twin model, and predict the subsequent positions and postures of the hoisting parts during the hoisting process;

[0047] S5. Set a safety threshold in the digital twin model. If the digital twin model predicts a possible collision between the hoisting parts and the hoisting equipment or the hoisting environment during the hoisting process or the performance parameters of the hoisting process exceed the safety threshold, the digital twin model makes a judgment and issues a warning message.

[0048] Compared with the traditional hoisting method, due to the characteristics of digital twin such as virtual-real fusion and real-time interaction, iterative operation and optimization, and full-process data-driven, using a digital twin model in the hoisting operation of large parts can improve the hoisting efficiency and hoisting accuracy, and achieve simulation prediction and safety warning of the hoisting process.

[0049] In S1, through a three-dimensional scanning device, the three-dimensional scanning device can use a three-dimensional laser scanner. The three-dimensional laser scanning and mapping technology is used to collect the shape data of the hoisting environment and hoisting equipment. The three-dimensional solid data of the hoisting parts can be measured after the parts are manufactured or scanned on the hoisting site. According to the obtained shape data, a three-dimensional solid model is established using modeling software; wherein the hoisting environment includes fixed buildings around the hoisting area and hoisting foundation pits; the hoisting equipment includes cranes; the hoisting parts include the water intake components, guide water components, working components, and drainage components of the water turbine.

[0050] The hoisting parts are composed of a part body and a ranging terminal. The ranging terminal is composed of three-direction laser displacement sensors, which are responsible for collecting the three-direction displacement data of the measuring points at its installation position. A number of ranging terminals are installed on the part body, and the part body includes water intake components, guide water components, working components, drainage components, etc.

[0051] In S2, a hoisting environment coordinate system is established with the center of the hoisting foundation pit of the hoisted part as the reference, the initial three-dimensional position relationship between the hoisted part, the hoisting equipment and the hoisting environment coordinate system is determined, and a three-dimensional geometric model of the hoisting site is established. Among them, the geometric dimension constructs a three-dimensional solid model from the shape, size, position and assembly relationship of the hoisting environment, hoisting equipment and hoisted part, the physical dimension models from the physical property parameters and motion states of the hoisting equipment and the hoisted part, the behavior dimension is based on the overall hoisting process, according to the established three-dimensional geometric model of the hoisting site, the evolution behavior changing with time during the hoisting process is simulated through simulation software, and the changes in the physical property parameters and motion states of the hoisting equipment and the hoisted part obtained are fed back to the three-dimensional geometric model of the hoisting site, and the rule dimension is based on relevant standards and guidelines to control and guide the established digital twin model.

[0052] First, use a scanning device to scan the hoisting environment and hoisting equipment at the hoisting site to obtain the external shape data of the hoisting environment and hoisting equipment. The external shape data of the hoisted part can be collected according to the design drawings or by scanning, and the corresponding three-dimensional model is established. Taking the center of the hoisting foundation pit as the reference, taking the moving direction of the crane, the moving direction of the crane trolley and the vertical direction as the X, Y, and Z axes respectively, a three-dimensional coordinate system of the hoisting environment is established, and the initial three-dimensional position relationship between the hoisting environment, the hoisting equipment and the hoisted part is determined.

[0053] The geometric dimension constructs a three-dimensional model from aspects such as the hoisting site environment, the shape, size, position, and assembly relationship of the hoisting equipment and the hoisted part, and uses BIM modeling software such as Revit and SolidWorks to establish a geometric model.

[0054] The physical dimension models from aspects such as the physical property parameters and motion states of the hoisting equipment and the hoisted part, and uses finite element analysis software such as Ansys and COMSOL to establish a physical model.

[0055] The behavior dimension is based on the overall hoisting process. According to the established physical model, the evolution behavior changing with time during the hoisting process is simulated through simulation software, the changes in the physical property parameters and motion states of the hoisting equipment and the hoisted part obtained are fed back to the physical model, and the model is appropriately optimized in combination with the actual situation at the hoisting site.

[0056] The rule dimension is based on national and industry standards and guidelines, summarizes the laws of historical relevant data, controls and guides the established digital twin model macroscopically, and combines the simulation analysis of the model to realize the verification and iteration of the effectiveness and accuracy of the digital twin model.

[0057] Based on the performance data and physical property parameters of the hoisting equipment and hoisting parts, combined with the established geometric model, a relative motion model between the hoisting equipment, hoisting parts and hoisting environment is initially constructed. The effectiveness and accuracy of the model are verified by combining national and industrial standards and historical data.

[0058] In S2, a hoisting positioning algorithm is used to obtain the position relationship between the hoisting parts and the hoisting environment coordinate system.

[0059] See Figure 2 , first obtain the coordinates of the center of the hoisting parts in the hoisting environment coordinate system before hoisting and the final installation coordinates of the center of the hoisting parts in the hoisting environment coordinate system , as well as the coordinates of several ranging terminals installed on the hoisting parts in a three-dimensional coordinate system (part coordinate system) with the center of the hoisting parts as the origin , ,…, , taking the center of the hoisting parts as a reference, calculate the target coordinates of the ranging terminals in the hoisting environment coordinate system :

[0060] ,

[0061] ,

[0062] ;

[0063] Thus, the target coordinates of each ranging terminal are obtained , , , during the hoisting process, the displacements of the corresponding points measured by the ranging terminals along the axis are respectively , and the coordinates of the corresponding points of the ranging terminals on the hoisting parts during the hoisting process are obtained as:

[0064] ,

[0065] ,

[0066] ;

[0067] Thus, the measured coordinates of each ranging terminal during the hoisting process are determined, and the angles between the line segments connecting the ranging terminals and the origin of the hoisting environment coordinate system in the hoisting environment coordinate system and each coordinate axis are respectively:

[0068] ,

[0069] ,

[0070] ;

[0071] Thus, according to the initial position relationship between the ranging terminal and the center of the hoisting part, the coordinates of the center of the hoisting part during the hoisting process are solved, that is, from the following equations:

[0072] ,

[0073] ,

[0074] ;

[0075] In the formula: are respectively the measured three-axis coordinate values of the center of the hoisting part in the hoisting environment coordinate system, are respectively the measured three-axis coordinate values of the first ranging terminal in the hoisting environment coordinate system, are respectively the measured three-axis coordinate values of the second ranging terminal in the hoisting environment coordinate system, are respectively the measured three-axis coordinate values of the third ranging terminal in the hoisting environment coordinate system; are respectively the coordinate values of the first ranging terminal in the part coordinate system, are respectively the coordinate values of the second ranging terminal in the part coordinate system, are respectively the coordinate values of the third ranging terminal in the part coordinate system.

[0076] The measured coordinates of the center of the hoisting part are solved as . After obtaining the measured coordinates of each point, through calculation with the final installation coordinate , the directions and distances between each measurement point and the final installation coordinate are solved, that is:

[0077]

[0078]

[0079]

[0080]

[0081] Among them are respectively the distances between the measured point of the center of the hoisting part, the first ranging terminal, the second ranging terminal, the third ranging terminal and the final installation point of the center of the hoisting part.

[0082] Taking the final installation point of the center of the hoisting part as the origin, a three-dimensional coordinate system is established, and each coordinate axis is respectively parallel to the corresponding coordinate axis of the hoisting environment coordinate system. From:

[0083]

[0084]

[0085]

[0086] The direction angles of each measuring point relative to the final installation point of the center of the hoisting part can be obtained, and then the positional relationship between the hoisting part and the hoisting environment coordinate system during the hoisting process can be obtained.

[0087] In S3, according to the motion model in S2, the displacement data of the hoisting equipment and the hoisting part relative to the hoisting environment obtained by the ranging terminals on the hoisting equipment and the hoisting part during the actual hoisting process are collected and fed back to the initially established digital twin model. If the simulation result of the digital twin model is inconsistent with the actual situation, the model is corrected to make the output result of the digital twin model closer to the actual physical process and ensure the accuracy of the model.

[0088] Collect the motion displacement data of the hoisting equipment and the hoisting part during the hoisting process, input them into the initially established model to obtain the simulation verification result, and compare the model verification result with the actual hoisting process. When there is a deviation between the verification result and the actual hoisting process, the model needs to be corrected, and the model correction parameters are reasonably selected to make the output result of the model closer to the actual state of the hoisting process and ensure the accuracy of the model. After determining the accuracy of the model through multiple corrections, the establishment of the digital twin model for the hoisting process is completed.

[0089] The displacement data includes the displacement data of the hoisting part and the crane obtained by the ranging terminals installed on the hoisting equipment and the hoisting part. The displacement data of the crane includes the trolley travel displacement data (X-axis), the crab travel displacement data (Y-axis), and the hook up and down displacement data (Z-axis). The displacement data of the hoisting part includes the swing amplitude, the torsion angle, and the measured coordinates of the important installation points. The edge computing mode is adopted to store and process the data to realize the monitoring of the motion state of the hoisting part during the hoisting process. The control of the crane consists of a controller and an actuator to realize the control and execution of the operation of the hoisting equipment during the hoisting process.

[0090] In S4, during actual hoisting, continuously obtain the operation data of the hoisting equipment and the position information of the hoisting part relative to the hoisting environment, and synchronize the data to the digital twin model to realize the synchronous simulation of the digital twin model.

[0091] During the hoisting process, the digital twin model changes with the relative positions of the hoisting equipment, hoisting parts, and hoisting environment. Displacement data of the hoisting equipment and hoisting parts are obtained at fixed time intervals. The specific position relationship between the hoisting parts and the hoisting environment at the current moment is obtained using the hoisting positioning algorithm. The virtual entities in the digital twin model change their relative positions according to the input motion data of the hoisting parts. Displacement curves of each measurement point, including the center of the hoisting parts, are fitted based on the collected displacement data, and then the velocity and acceleration information of each measurement point are obtained. The displacement, velocity, and acceleration state information of the corresponding measurement points at the next moment are obtained through the fitted curves, which are reflected in the digital twin model to obtain the relative position relationship between the hoisting parts and the hoisting environment at the next moment, as well as the swinging and twisting states of the hoisting parts, so as to predict the subsequent positions and postures of the hoisting parts during the hoisting process.

[0092] In S5, during the hoisting process, according to the motion of the hoisting parts and hoisting equipment relative to the hoisting environment, the virtual entities in the digital twin model also change accordingly. A safety threshold is set in the digital twin model. If during the hoisting process, the digital twin model predicts a possible collision between the hoisting parts and the hoisting equipment or the hoisting environment, or the performance parameters of the hoisting process exceed the safety threshold, the digital twin model makes a judgment and sends out a warning message to the outside to remind the technical personnel that there are safety risks during the hoisting process. Among them, setting the safety threshold in the digital twin model includes the distance between the hoisting parts and the edge of the hoisting foundation pit, the amplitude of the swinging of the hoisting parts, the torsion angle of the hoisting parts, and the position and direction of the measured coordinates and installation coordinates of the important installation points of the hoisting parts.

Claims

1. A safety early warning method for hoisting process based on digital twin, characterized by: The following steps are included: S1. Collect shape data of the hoisting environment, hoisting equipment and hoisting parts, and establish a three-dimensional solid model based on the acquired shape data; S2. Determine the initial three-dimensional positional relationship between the hoisting parts, hoisting equipment and hoisting environment, establish a three-dimensional geometric model of the hoisting site, and establish motion models of the hoisting environment, hoisting equipment and hoisting parts from four dimensions: geometry, physics, behavior and rules, and establish a preliminary digital twin model; S3, collecting the displacement data of the hoisting equipment and the hoisting parts relative to the hoisting environment obtained by the ranging terminal during the hoisting process, and performing iterative optimization of the model; S4. During the actual lifting process, the operation data of the lifting equipment and the position information of the lifting parts relative to the lifting environment are continuously collected and synchronized to the digital twin model to achieve synchronous simulation of the digital twin model and predict the subsequent position and posture of the lifting parts during the lifting process. During the hoisting process, the digital twin model changes with the change of the relative position of the hoisting equipment and hoisting parts to the hoisting environment. The displacement data of the hoisting equipment and hoisting parts are obtained at fixed time intervals, and the specific position relationship between the hoisting parts and the hoisting environment at the current moment is obtained by using the hoisting positioning algorithm. The virtual entity in the digital twin model changes its relative position according to the input hoisting part motion data. The displacement curve of each measuring point including the center of the hoisting part is fitted according to the collected displacement data, and then the speed and acceleration information of each measuring point is obtained. The displacement, speed, and acceleration state information of the corresponding measuring point at the next moment are obtained by fitting the curve, which is reflected in the digital twin model to obtain the relative position relationship between the hoisting parts and the hoisting environment at the next moment, as well as the swing and torsion state of the hoisting parts, so as to predict the subsequent position and posture of the hoisting parts during the hoisting process. S5. Set a safety threshold in the digital twin model. If the digital twin model predicts the possibility of collision between the lifting parts and the lifting equipment or the lifting environment during the lifting process, or the performance parameters of the lifting process exceed the safety threshold, the digital twin model will make a judgment and issue a warning message.

2. According to the digital twin-based safety early warning method for hoisting process according to claim 1, it is characterized by: In S1, the shape data of the lifting environment and the lifting equipment are collected by a three-dimensional scanning device. The three-dimensional solid data of the lifting parts can be measured after the parts are manufactured or obtained by scanning at the lifting site. According to the obtained shape data, a three-dimensional solid model is established using modeling software; wherein the lifting environment includes fixed buildings and lifting pits around the lifting area; the lifting equipment includes a crane; and the lifting parts include water diversion components, water guide components, working components, and water discharge components of the turbine.

3. According to a digital twin-based safety early warning method for hoisting process according to claim 1, it is characterized by: In S2, a hoisting environment coordinate system is established with the center of the hoisting pit as the reference, the initial three-dimensional position relationship between the hoisting parts, hoisting equipment and the hoisting environment coordinate system is determined, and a three-dimensional geometric model of the hoisting site is established; the geometric dimension constructs a three-dimensional solid model from the shape, size, position and assembly relationship of the hoisting environment, hoisting equipment and hoisting parts, and the physical dimension models the physical parameters and motion state of the hoisting equipment and hoisting parts. The behavioral dimension is based on the overall hoisting process. According to the established three-dimensional geometric model of the hoisting site, the evolutionary behavior over time during the hoisting process is simulated through simulation software, and the changes in the physical parameters and motion state of the hoisting equipment and hoisting parts are fed back to the three-dimensional geometric model of the hoisting site. The rule dimension controls and guides the established digital twin model based on relevant standards and guidelines.

4. According to a digital twin-based safety early warning method for hoisting process according to claim 1, it is characterized by: In S2, a hoisting positioning algorithm is used to obtain the positional relationship between the hoisting parts and the hoisting environment coordinate system; First, obtain the coordinates of the center of the hoisting parts in the hoisting environment coordinate system before hoisting The final installation coordinates of the center of the hoisting part in the hoisting environment coordinate system , and the coordinates of several ranging terminals installed on the hoisting parts in a three-dimensional coordinate system with the center of the hoisting parts as the origin , ,…, , taking the center of the hoisting part as a reference, calculate the target coordinates of the ranging terminal in the hoisting environment coordinate system : ， ， ； Thus, the target coordinates of each ranging terminal are obtained , , During the hoisting process, the corresponding point measured by the ranging terminal is at the lower edge of the hoisting environment coordinate system. The displacements of the axes are , get the coordinates of the corresponding points of the ranging terminal during the hoisting process for: ， ， ； Thus, the measured coordinates of each ranging terminal during the hoisting process are determined, and the angles between the line segment connecting the ranging terminal and the origin of the hoisting environment coordinate system in the hoisting environment coordinate system and each coordinate axis are: ， ， ； Therefore, the coordinates of the center of the hoisting part during the hoisting process are obtained according to the initial position relationship between the ranging terminal and the center of the hoisting part, that is, the following equation: ， ， ； The measured coordinates of the hoisting parts are solved as follows: After obtaining the measured coordinates of each point, the final installation coordinates are compared Calculate and solve the coordinates of each measuring point and the final installation The direction and distance S are obtained, and then the position relationship between the hoisting parts and the hoisting environment coordinate system during the hoisting process is obtained.

5. According to a digital twin-based safety early warning method for hoisting process according to claim 1, it is characterized by: In S3, according to the motion model in S2, the displacement data of the lifting equipment and lifting parts relative to the lifting environment obtained by the ranging terminals on the lifting equipment and lifting parts during the actual lifting process are collected and fed back to the initially established digital twin model. If the simulation results of the digital twin model are inconsistent with the actual situation, the model is corrected to make the output results of the digital twin model closer to the actual physical process.

6. According to a digital twin-based safety early warning method for hoisting process according to claim 1, it is characterized by: In S5, during the hoisting process, the virtual entities in the digital twin model will change according to the movement of the hoisting parts and hoisting equipment relative to the hoisting environment. A safety threshold is set in the digital twin model. If the digital twin model predicts the possibility of collision between the hoisting parts and the hoisting equipment or the hoisting environment, or the performance parameters of the hoisting process exceed the safety threshold, the digital twin model will make a judgment and send an early warning message to the outside to remind the technicians that there are safety risks in the hoisting process. The safety thresholds set in the digital twin model include the distance between the hoisting parts and the edge of the hoisting pit, the swing amplitude of the hoisting parts, the torsion angle of the hoisting parts, and the position and direction of the measured coordinates of the important installation points of the hoisting parts and the installation coordinates.

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