A control method for an intelligent lifting device for electromechanical multi-disciplinary modules

Abstract

The present invention discloses a control method for an intelligent lifting device for electromechanical multi-professional modules, which relates to a control system-related technical field, obtains multiple actual module specification information, and calculates and obtains multiple module specification deviation information. Multiple professional modules are lifted, and images are collected after reaching the stage height, and error analysis is performed to obtain multiple identification module lifting error parameters. Multiple module lifting error parameters are obtained by combining multiple module specification deviation information, and after analysis, corrections are made according to the remaining lifting distance to obtain multiple installation deviation parameters and multiple extrusion damage parameters. The lifting position parameters of multiple lifting units are optimized based on the acquired parameters, and the lifting control is completed until multiple professional modules are lifted. The technical problem that it is difficult to achieve accurate lifting and installation control of each professional module in the electromechanical multi-professional modular construction process in the prior art, resulting in module position deviation and module extrusion damage, affects the construction quality.

Description

Technical Field

[0001] The present application relates to the technical field related to control systems, and specifically to a control method for an electromechanical multi-professional module intelligent lifting device. Background Art

[0002] Multi-professional modular electromechanical construction technology refers to the concept of coordinated development of intelligent construction and building industrialization in electromechanical installation projects, using BIM technology, industrial prefabrication, mechanized assembly and other technical means to integrate and arrange multi-professional pipelines such as water, heating, electricity, ventilation, etc. in complex electromechanical systems, scientifically split them, form multi-professional installation modules, and perform fast intelligent mechanized assembly construction technology at the construction site. In modern electromechanical installation projects, traditional construction methods usually rely on manual operation and experience judgment, which leads to installation deviations and physical damage in complex electromechanical systems. This problem is particularly prominent when it comes to the integrated construction of multiple professional modules such as water, heating, electricity, ventilation, etc.

[0003] Therefore, in the existing technology, it is difficult to achieve accurate lifting and installation control of each professional module in the multi-disciplinary modular construction process of electromechanical, resulting in technical problems such as module position deviation and module extrusion damage, which affect the construction quality. Summary of the invention

[0004] This application provides a control method for an intelligent lifting device for electromechanical multi-professional modules, which solves the technical problem in the prior art that it is difficult to accurately lift and install each professional module during the electromechanical multi-professional modular construction process, resulting in module position deviation and module extrusion damage, which affects the construction quality. Through the intelligent lifting device and the error analysis technology based on image processing, accurate control of multi-professional modules during the lifting process is achieved, which can effectively reduce the risk of module position deviation and extrusion damage, and ensure the technical effect of installation accuracy and safety.

[0005] The present application provides a control method for an intelligent lifting device for electromechanical multi-professional modules, the method being applied to an intelligent lifting device, the intelligent lifting device comprising a plurality of lifting units, the method comprising: performing specification detection on a plurality of professional modules in an integrated electromechanical structure to be lifted, obtaining a plurality of actual module specification information, and calculating and obtaining a plurality of module specification deviation information; using a plurality of lifting units in the intelligent lifting device to lift a plurality of professional modules in the integrated electromechanical structure, and after reaching a preset lifting stage height, collecting a stage lifting image of the integrated electromechanical structure, performing image segmentation and lifting error analysis on the plurality of professional modules, and obtaining a plurality of recognition images of the plurality of professional modules. The lifting error parameters of the different modules are combined with the specification deviation information of the multiple modules to calculate and obtain the lifting error parameters of the multiple modules; according to the lifting error parameters of the multiple modules, the installation deviation analysis and extrusion damage analysis of the multiple professional modules caused by the lifting error are performed to obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters, and the current remaining lifting distance is obtained, and corrections are performed to obtain multiple installation deviation parameters and multiple extrusion damage parameters; according to the multiple installation deviation parameters and multiple extrusion damage parameters, the lifting position parameters of the multiple lifting units are intelligently adjusted and optimized to obtain multiple optimized lifting position parameters, and lifting control is performed until the multiple professional modules are lifted.

[0006] In the implementation method, specification detection is performed on multiple professional modules within the integrated electromechanical structure to be lifted to obtain multiple actual module specification information, and multiple module specification deviation information is calculated, including: performing specification detection on multiple professional modules within the integrated electromechanical structure to be lifted to obtain multiple actual module specification information; obtaining design standard specification information of the multiple professional modules; calculating the deviation between the multiple actual module specification information and multiple design standard specification information to obtain multiple module specification deviation information.

[0007] In the implementation method, after reaching a preset lifting stage height, a stage lifting image of the integrated electromechanical structure is collected, and image segmentation and lifting error analysis of the multiple professional modules are performed, including: after reaching a preset lifting stage height, a stage lifting image of the integrated electromechanical structure is collected; based on the historical lifting data of the electromechanical multi-professional modules, a sample stage lifting image set is collected, and the images of multiple professional modules in each sample stage lifting image are segmented and labeled to obtain multiple sample professional module image sets; using the sample stage lifting image set and multiple sample professional module image sets, a professional module image segmentor is trained based on image segmentation, and the stage lifting image is segmented to obtain multiple professional module images; the designed lifting position information of the multiple professional modules is obtained, and the actual lifting position information of the multiple professional module images is obtained; the deviations between multiple actual lifting position information and multiple designed lifting position information are calculated, and multiple identification module lifting error parameters are calculated to obtain.

[0008] In the implementation method, multiple module lifting error parameters are calculated in combination with the multiple module specification deviation information, including: setting and obtaining multiple specification lifting error parameters according to the multiple module specification deviation information; deleting the multiple specification lifting error parameters within the multiple identified module lifting error parameters to obtain multiple module lifting error parameters.

[0009] In the implementation method, according to the multiple module lifting error parameters, the installation deviation analysis and extrusion damage analysis of the multiple professional modules caused by the lifting error are performed to obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters, including: according to the historical installation data of the integrated electromechanical structure, a plurality of sample module lifting error parameter sets are collected, and according to the installation deviation amplitude and the degree of extrusion damage of the professional modules after installation under different sample module lifting error parameters, multiple sample basic installation deviation parameter sets and multiple sample basic extrusion damage parameter sets are annotated to obtain; using the multiple sample module lifting error parameter sets, the multiple sample basic installation deviation parameter sets and the multiple sample basic extrusion damage parameter sets, the installation deviation analysis branch and the extrusion damage analysis branch are trained to obtain an installation simulation analyzer; using the installation simulation analyzer, the installation deviation analysis and extrusion damage analysis are performed on the multiple module lifting error parameters to obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters.

[0010] In the implementation method, the current remaining lifting distance is obtained and corrected to obtain multiple installation deviation parameters and multiple extrusion damage parameters, including: calculating the remaining lifting distance based on the stage height and the total lifting height; correcting and calculating the multiple basic installation deviation parameters and multiple basic extrusion damage parameters based on the ratio of the remaining lifting distance to the preset distance to obtain multiple installation deviation parameters and multiple extrusion damage parameters.

[0011] In the implementation method, the lifting position parameters of the multiple lifting units are intelligently adjusted and optimized according to the multiple installation deviation parameters and the multiple extrusion damage parameters, including: obtaining a preset position adjustment step for the position adjustment of the multiple lifting units, and adjusting and calculating the position adjustment step according to the ratio of the multiple installation deviation parameters and the multiple extrusion damage parameters to the allowable installation deviation parameters and the allowable extrusion damage parameters to obtain a plurality of position adjustment step lengths; randomly adjusting a plurality of current lifting position parameters of the multiple lifting units according to the plurality of position adjustment step lengths to obtain a plurality of first lifting position parameters; and adjusting the lifting error parameters of the multiple modules based on the deviations between the plurality of first lifting position parameters and the plurality of current lifting position parameters. Adjustment, obtain multiple first module lifting error parameters, calculate to obtain the first adjustment error degree, and perform installation deviation analysis and extrusion damage analysis and correction to obtain multiple first installation deviation parameters and multiple first extrusion damage parameters; according to the multiple first installation deviation parameters and multiple first extrusion damage parameters, combined with the multiple installation deviation parameters and multiple extrusion damage parameters, adjust and calculate the multiple position adjustment steps to obtain multiple first position adjustment steps; continue to use the multiple first position adjustment steps to randomly adjust the multiple first lifting position parameters, and iteratively optimize the lifting position parameters of multiple lifting units; until the optimization converges, output multiple lifting position parameters corresponding to the minimum adjustment error degree as multiple optimized lifting position parameters.

[0012] In the implementation method, according to the multiple first installation deviation parameters and the multiple first extrusion damage parameters, in combination with the multiple installation deviation parameters and the multiple extrusion damage parameters, the multiple position adjustment step lengths are adjusted and calculated, including: calculating the ratios of the multiple first installation deviation parameters and the multiple first extrusion damage parameters and the multiple installation deviation parameters and the multiple extrusion damage parameters to obtain multiple first installation deviation ratios and multiple first extrusion damage ratios; according to the multiple first installation deviation ratios and the multiple first extrusion damage ratios, respectively weightedly calculating to obtain multiple step adjustment coefficients, adjusting the multiple position adjustment steps and calculating to obtain multiple first position adjustment steps.

[0013] It is intended to use a control method for an electromechanical multi-professional module intelligent lifting device proposed in this application to perform specification detection on multiple professional modules in an integrated electromechanical structure to be lifted, obtain multiple actual module specification information, and calculate multiple module specification deviation information; use multiple lifting units in the intelligent lifting device to lift multiple professional modules in the integrated electromechanical structure, and after reaching a preset lifting stage height, collect a stage lifting image of the integrated electromechanical structure, perform image segmentation and lifting error analysis on the multiple professional modules, obtain multiple recognition module lifting error parameters of the multiple professional modules, and combine the multiple modules to obtain the lifting error parameters of the multiple professional modules. Block specification deviation information is used to calculate and obtain multiple module lifting error parameters; according to the multiple module lifting error parameters, the installation deviation analysis and extrusion damage analysis of the multiple professional modules caused by the lifting error are performed to obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters, and the current remaining lifting distance is obtained, and corrections are performed to obtain multiple installation deviation parameters and multiple extrusion damage parameters; according to the multiple installation deviation parameters and multiple extrusion damage parameters, the lifting position parameters of the multiple lifting units are intelligently adjusted and optimized to obtain multiple optimized lifting position parameters, and lifting control is performed until the multiple professional modules are lifted. The technical problem that it is difficult to achieve accurate lifting and installation control of each professional module in the prior art mechanical and electrical multi-professional modular construction process, resulting in module position deviation and module extrusion damage, and affecting the construction quality is solved. Through the intelligent lifting device and the error analysis technology based on image processing, accurate control of multi-professional modules during the lifting process is achieved, which can effectively reduce the risk of module position deviation and extrusion damage, and ensure the technical effect of installation accuracy and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solution of the embodiment of the present disclosure, the accompanying drawings of the embodiment of the present disclosure will be briefly introduced below. A flow chart is used in the present application to illustrate the operations performed by the system according to the embodiment of the present application. It should be understood that the preceding or following operations are not necessarily performed precisely in order. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or one or more operations can be removed from these processes.

[0015] Figure 1 A schematic flow chart of a control method for a mechatronics multi-professional module intelligent lifting device provided in an embodiment of the present application;

[0016] Figure 2 A flow chart of a control method for an electromechanical multi-professional module intelligent lifting device provided in an embodiment of the present application for obtaining specification deviation information of multiple modules. DETAILED DESCRIPTION

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

[0018] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0019] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict, and the terms "first\second" involved are merely to distinguish similar objects and do not represent a specific ordering of objects. The terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products, or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of this application. The terms used herein are for the purpose of describing the embodiments of the present application only.

[0020] The present application embodiment provides a control method for a mechanical and electrical multi-professional module intelligent lifting device, such as Figure 1 As shown, the method is applied to an intelligent lifting device, the intelligent lifting device includes a plurality of lifting units, and the method includes:

[0021] Performing specification detection on multiple professional modules in the integrated electromechanical structure to be lifted, obtaining multiple actual module specification information, and calculating multiple module specification deviation information; using multiple lifting units in the intelligent lifting device to lift multiple professional modules in the integrated electromechanical structure, after reaching a preset lifting stage height, collecting a stage lifting image of the integrated electromechanical structure, performing image segmentation and lifting error analysis on the multiple professional modules, obtaining multiple identification module lifting error parameters of the multiple professional modules, and calculating multiple module lifting error parameters in combination with the multiple module specification deviation information;

[0022] Multi-professional modular electromechanical construction technology refers to the concept of coordinated development of intelligent construction and building industrialization in electromechanical installation projects, using BIM technology, industrial prefabrication, mechanized assembly and other technical means to integrate and arrange multi-professional pipelines such as water, heating, electricity, ventilation, etc. in complex electromechanical systems, scientifically split them, form multi-professional installation modules, and perform rapid intelligent mechanized assembly construction technology at the construction site. The method is applied to an intelligent lifting device, which includes multiple lifting units, and performs specification detection on multiple professional modules in the integrated electromechanical structure to be lifted. The multiple professional modules include multiple pipeline arrangement structures such as water, heating, electricity, ventilation, etc., and obtain multiple actual module specification information, each of which corresponds to a professional module. Subsequently, deviation calculation is performed based on the design standard specification information and the actual module specification information of the professional module to obtain multiple module specification deviation information. Subsequently, multiple lifting units in the intelligent lifting device are used to lift multiple professional modules in the integrated electromechanical structure. During the lifting process, when the lifting height reaches a preset stage height, for example, 50 cm, a stage lifting image of the integrated electromechanical structure is collected, and the preset lifting stage height is a pre-set different height stage. Stage lifting images refer to image data collected at a certain height during the lifting process. These images will be used for subsequent image segmentation and error analysis. Image segmentation refers to the use of image processing algorithms to distinguish and label different modules in the collected stage lifting images. Based on the image segmentation results, a lifting error analysis is performed to obtain lifting error parameters of multiple identification modules of multiple professional modules, and the lifting error parameters of multiple modules are calculated based on the specification deviation information of the multiple modules.

[0023] like Figure 2 As shown, the method provided in the embodiment of the present application also includes: performing specification detection on multiple professional modules within the integrated electromechanical structure to be lifted to obtain multiple actual module specification information; obtaining design standard specification information of the multiple professional modules; calculating the deviation between the multiple actual module specification information and multiple design standard specification information to obtain multiple module specification deviation information.

[0024] The specification detection is performed on multiple professional modules in the integrated electromechanical structure to be lifted, multiple actual module specification information is obtained, and multiple module specification deviation information is calculated, including: the specification detection is performed on multiple professional modules in the integrated electromechanical structure to be lifted, and multiple actual module specification information is obtained, wherein the module specification information includes the size, angle, material specification and other parameters of the corresponding measurement module. Subsequently, the design standard specification information of the multiple professional modules is obtained, and the design standard specification information is the ideal specification parameters determined by the designer of the module during the design stage. These specification information are usually recorded in technical documents or design drawings, including the standard size, angle, material specification, etc. of each module. The deviation of the multiple actual module specification information and the multiple design standard specification information is calculated, and the specification deviation information is obtained by calculating the difference between the actual module specification information and the design standard specification information, and multiple module specification deviation information is obtained. For example, for a cable duct, if the actual measured length is 205cm and the designed length is 200cm, the deviation is 5cm.

[0025] The method provided in the embodiment of the present application also includes: after reaching a preset lifting stage height, collecting a stage lifting image of the integrated electromechanical structure; based on the historical lifting data of the electromechanical multi-professional modules, collecting a set of sample stage lifting images, and segmenting and annotating the images of multiple professional modules in each sample stage lifting image to obtain multiple sample professional module image sets; using the sample stage lifting image set and multiple sample professional module image sets, based on image segmentation, training a professional module image segmentor, performing image segmentation on the stage lifting image, and obtaining multiple professional module images; obtaining the designed lifting position information of the multiple professional modules, and obtaining the actual lifting position information of the multiple professional module images; calculating the deviations between multiple actual lifting position information and multiple designed lifting position information, and calculating to obtain multiple identification module lifting error parameters.

[0026] After reaching the preset lifting stage height, the stage lifting image of the integrated electromechanical structure is collected, and the image segmentation and lifting error analysis of the multiple professional modules are performed, including: after reaching the preset lifting stage height, a high-resolution industrial camera or 3D laser scanning equipment is used to capture the complete structure of the integrated electromechanical structure to ensure that each pipeline and module can be clearly recorded, and the stage lifting image of the integrated electromechanical structure is obtained. Subsequently, before the formal image segmentation is performed, it is necessary to use the historical lifting data of the electromechanical multi-professional module to construct a sample stage lifting image set, and use the sample image as training data for training the image segmentation model. According to the historical lifting data of the electromechanical multi-professional module, the historical lifting data of the electromechanical multi-professional module is the historical record data when the multi-professional module is lifted. And the images of multiple professional modules in each sample stage lifting image are segmented and annotated to obtain multiple sample professional module image sets. The sample image is segmented and annotated by manual or automated tools. The purpose of segmentation is to separate each professional module in the image, such as water pipes, heating pipes, cables, ventilation pipes, etc., and mark their categories and positions.

[0027] The sample data obtained in the previous step is used to train a professional module image segmentor using the sample stage lift image set and multiple sample professional module image sets, and the professional module image segmentor is constructed based on the convolutional neural network CNN. During training, the sample stage lift image set and multiple sample professional module image sets are input into the convolutional neural network model to perform supervised training on the model so that the model can accurately identify and segment each professional module in the image. During the training process, the model parameters are continuously adjusted until the output accuracy of the model meets the threshold, and the training is completed to obtain the professional module image segmentor. Image segmentation is performed on the stage lift image based on the professional module image segmentor, and segmentation processing of the actual lift image is performed to obtain multiple professional module images.

[0028] The designed lifting position information of the multiple professional modules is obtained. The designed lifting position information is the position parameter of the professional module at the corresponding lifting position under the condition that there is no deviation in an ideal state. The actual lifting position information of the multiple professional module images is obtained. The actual lifting position information of the multiple professional module images is the position parameter of the multiple professional module images in the actual assembly environment. The information is obtained based on the image reference point and the correspondence between the pixel and the actual coordinates. The image reference point is a pre-marked image position, which is used to obtain the correspondence between the image coordinates and the actual coordinate system. Finally, the deviation between the multiple actual lifting position information and the multiple designed lifting position information is calculated to obtain the lifting error parameters of the multiple recognition modules.

[0029] The method provided in the embodiment of the present application also includes: setting and obtaining multiple specification lifting error parameters according to the multiple module specification deviation information; deleting the multiple specification lifting error parameters within the multiple identification module lifting error parameters to obtain multiple module lifting error parameters.

[0030] Combined with the multiple module specification deviation information, multiple module lifting error parameters are calculated, including: according to the multiple module specification deviation information, multiple specification lifting error parameters are set to obtain, and the multiple specification lifting error parameters include error parameters generated by professional modules in various directions. Since the lifting error is the sum of the lifting operation error and the specification error, it is necessary to compensate the lifting error according to the multiple specification lifting error parameters to obtain the error generated by the lifting operation, delete the multiple specification lifting error parameters in the multiple identification module lifting error parameters, and obtain multiple module lifting error parameters.

[0031] According to the multiple module lifting error parameters, an installation deviation analysis and an extrusion damage analysis of the multiple professional modules caused by the lifting error are performed to obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters, and the current remaining lifting distance is obtained and corrected to obtain multiple installation deviation parameters and multiple extrusion damage parameters; according to the multiple installation deviation parameters and multiple extrusion damage parameters, the lifting position parameters of the multiple lifting units are intelligently adjusted and optimized to obtain multiple optimized lifting position parameters, and lifting control is performed until the multiple professional modules are completely lifted.

[0032] According to the lifting error parameters of the multiple modules, the lifting error parameters of the multiple modules are input into the installation simulation analyzer, and the installation deviation analysis and extrusion damage analysis of the multiple professional modules caused by the lifting error are performed to obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters. Further, the current remaining lifting distance is obtained, and the correction parameters are obtained based on the ratio of the remaining lifting distance to the preset distance, and the multiple basic installation deviation parameters and multiple basic extrusion damage parameters are corrected to obtain multiple installation deviation parameters and multiple extrusion damage parameters. Finally, according to the multiple installation deviation parameters and multiple extrusion damage parameters, the lifting position parameters of the multiple lifting units are intelligently adjusted and optimized to obtain multiple optimized lifting position parameters, and lifting control is performed, that is, the positions of the multiple lifting units are optimized and adjusted to eliminate the lifting position error caused by the lifting equipment error until the multiple professional modules are lifted. Thereby reducing the lifting deviation generated during the lifting process of the electromechanical multi-professional module and ensuring the accuracy of assembly. It solves the technical problem that it is difficult to achieve accurate lifting and installation control of each professional module in the electromechanical multi-professional modular construction process in the prior art, resulting in module position deviation and module extrusion damage, and affecting the construction quality. The intelligent lifting device and image processing-based error analysis technology realize precise control of multi-professional modules during the lifting process, which can effectively reduce the risk of module position deviation and extrusion damage, and ensure the technical effect of installation accuracy and safety.

[0033] The method provided in the embodiment of the present application also includes: collecting multiple sample module lifting error parameter sets based on the historical installation data of the integrated electromechanical structure, and annotating to obtain multiple sample basic installation deviation parameter sets and multiple sample basic extrusion damage parameter sets based on the installation deviation amplitude and the degree of extrusion damage of the professional module after installation under different sample module lifting error parameters; using the multiple sample module lifting error parameter sets, the multiple sample basic installation deviation parameter sets and the multiple sample basic extrusion damage parameter sets to train the installation deviation analysis branch and the extrusion damage analysis branch to obtain an installation simulation analyzer; using the installation simulation analyzer to perform installation deviation analysis and extrusion damage analysis on the multiple module lifting error parameters to obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters.

[0034] According to the lifting error parameters of the multiple modules, the installation deviation analysis and extrusion damage analysis of the multiple professional modules caused by the lifting error are performed to obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters, including: first, collecting historical installation data related to the integrated electromechanical structure, the historical installation data including the position deviation of the module during the installation process and the physical damage records that occurred. Collect multiple sample module lifting error parameter sets, each sample contains a set of lifting error parameters, and the parameters reflect the lifting errors of each professional module. And according to the installation deviation amplitude and the degree of extrusion damage of the professional module after installation under different sample module lifting error parameters in the historical installation data, mark and obtain multiple sample basic installation deviation parameter sets and multiple sample basic extrusion damage parameter sets. Among them, the installation deviation amplitude is the position deviation parameter of the professional module corresponding to the lifting error parameter after installation. The degree of extrusion damage of the professional module refers to the situation where physical damage is caused by the modules approaching or colliding with each other. The degree of extrusion damage is a percentage parameter evaluated by professionals according to the size of the damage. The greater the degree of damage, the greater the corresponding parameter.

[0035] Furthermore, the multiple sample module lifting error parameter sets, multiple sample foundation installation deviation parameter sets and multiple sample foundation extrusion damage parameter sets are used to train the installation deviation analysis branch and the extrusion damage analysis branch to obtain an installation simulation analyzer. The installation deviation analysis branch and the extrusion damage analysis branch are both obtained after supervised training with a neural network model, wherein the training parameters of the installation deviation analysis branch are the multiple sample module lifting error parameter sets and the multiple sample foundation installation deviation parameter sets, and the training parameters of the extrusion damage analysis branch are the multiple sample module lifting error parameter sets and the multiple sample foundation extrusion damage parameter sets. The respective training data sets are input into the model for training, and the model parameters are continuously adjusted so that the deviation degree and extrusion damage of the installation deviation under different lifting error parameters can be accurately predicted. After the model training is completed, the model is used as an installation simulation analyzer to perform installation deviation analysis and extrusion damage analysis on the multiple module lifting error parameters to obtain multiple foundation installation deviation parameters and multiple foundation extrusion damage parameters.

[0036] The method provided in the embodiment of the present application also includes: calculating the remaining lifting distance based on the stage height and the total lifting height; and performing correction calculations on the multiple foundation installation deviation parameters and multiple foundation extrusion damage parameters based on the ratio of the remaining lifting distance to the preset distance to obtain multiple installation deviation parameters and multiple extrusion damage parameters.

[0037] The current remaining lifting distance is obtained, and corrections are made to obtain multiple installation deviation parameters and multiple extrusion damage parameters, including: according to the stage height and the total lifting height, the remaining lifting distance is calculated, and the remaining lifting distance is the difference between the total lifting height and the stage height. Subsequently, the ratio of the remaining lifting distance to the preset distance is calculated, and the preset distance is a preset distance, such as half of the total lifting distance. Among them, each ratio parameter corresponds to a specific correction parameter, and the larger the ratio, the larger the remaining lifting distance, the larger the corresponding correction parameter, and the larger the correction results of multiple basic installation deviation parameters and multiple basic extrusion damage parameters. Correction calculations are performed based on the products of the correction parameters with the multiple basic installation deviation parameters and the multiple basic extrusion damage parameters, respectively, to obtain multiple installation deviation parameters and multiple extrusion damage parameters.

[0038] The method provided in the embodiment of the present application also includes: obtaining a preset position adjustment step length for position adjustment of the multiple lifting units, and adjusting and calculating the position adjustment step length according to the ratio of the multiple installation deviation parameters and the multiple extrusion damage parameters to the allowable installation deviation parameters and the allowable extrusion damage parameters to obtain multiple position adjustment step lengths; randomly adjusting multiple current lifting position parameters of the multiple lifting units according to the multiple position adjustment step lengths to obtain multiple first lifting position parameters; adjusting the multiple module lifting error parameters based on the deviations of the multiple first lifting position parameters and the multiple current lifting position parameters to obtain multiple first module lifting error parameters, and calculating and obtaining Obtain a first adjustment error, and perform installation deviation analysis and extrusion damage analysis and correction to obtain multiple first installation deviation parameters and multiple first extrusion damage parameters; according to the multiple first installation deviation parameters and multiple first extrusion damage parameters, in combination with the multiple installation deviation parameters and multiple extrusion damage parameters, perform adjustment calculations on the multiple position adjustment steps to obtain multiple first position adjustment step lengths; continue to use the multiple first position adjustment step lengths to randomly adjust the multiple first lifting position parameters, and iteratively optimize the lifting position parameters of multiple lifting units; until the optimization converges, output multiple lifting position parameters corresponding to the minimum adjustment error as multiple optimized lifting position parameters.

[0039] According to the multiple installation deviation parameters and multiple extrusion damage parameters, the lifting position parameters of the multiple lifting units are intelligently adjusted and optimized, including: first, determining the preset position adjustment step length of each lifting unit, the preset position adjustment step length is the position adjustment parameter initially set. According to the ratio of the multiple installation deviation parameters and the multiple extrusion damage parameters to the allowable installation deviation parameters and the allowable extrusion damage parameters, and the average of the ratio of the installation deviation parameter and the extrusion damage parameter is obtained, the deviation damage parameter is obtained. Among them, the allowable installation deviation parameter is the maximum allowable installation deviation error, and the allowable extrusion damage parameter is the maximum allowable extrusion damage parameter. Adjustment calculation is performed based on the product of the deviation damage parameter and the position adjustment step length to obtain multiple position adjustment step lengths. The larger the deviation damage parameter, the larger the adjustment step length is to improve the optimization adjustment speed, and the smaller the deviation damage parameter is, the smaller the adjustment step length is to improve the optimization accuracy. Further, according to the multiple position adjustment step lengths, the multiple current lifting position parameters of the multiple lifting units are randomly adjusted to obtain multiple first lifting position parameters. During the adjustment process, the system will randomly offset each lifting unit according to the adjusted step length. This random adjustment helps to find the optimal path in the multi-dimensional space and avoid falling into the local optimal solution. After the random adjustment, the new position parameters of the lifting unit are recorded, which are called the first lifting position parameters, and multiple position parameters of multiple lifting units are obtained to obtain multiple first lifting position parameters.

[0040] Based on the deviations of the multiple first lifting position parameters and the multiple current lifting position parameters, the multiple module lifting error parameters are adjusted for corresponding deviation compensation, and multiple first module lifting error parameters are obtained, and the multiple first module lifting error parameters are error parameters after random adjustment. The first adjustment error degree is calculated, and the first adjustment error degree is the average value of the ratio of the difference between the first module lifting error parameter and the multiple module lifting error parameters to the multiple module lifting error parameters. When the mean value is larger, it means that the adjustment direction is more successful, otherwise the adjustment direction needs to be changed. The first module lifting error parameter is input into the installation simulation analyzer, and the installation deviation analysis and extrusion damage analysis and correction are performed to obtain multiple first installation deviation parameters and multiple first extrusion damage parameters. According to the multiple first installation deviation parameters and multiple first extrusion damage parameters, combined with the multiple installation deviation parameters and multiple extrusion damage parameters, the multiple position adjustment step lengths are adjusted and calculated to obtain multiple first position adjustment step lengths. If the installation deviation parameters and extrusion damage parameters increase, the step length is increased to improve the optimization efficiency. If they decrease, a better lifting position parameter is found, the step length is reduced, and the optimization accuracy is improved. Continue to use the multiple first position adjustment step sizes, randomly adjust the multiple first lifting position parameters, and repeat the above adjustment steps to iteratively optimize the lifting position parameters of multiple lifting units. Until the optimization converges, output multiple lifting position parameters corresponding to the minimum adjustment error as multiple optimized lifting position parameters.

[0041] The method provided in the embodiment of the present application also includes:

[0042] Calculate the multiple first installation deviation parameters and the multiple first extrusion damage parameters and the ratios of the multiple installation deviation parameters and the multiple extrusion damage parameters to obtain multiple first installation deviation ratios and multiple first extrusion damage ratios; according to the multiple first installation deviation ratios and the multiple first extrusion damage ratios, respectively perform weighted calculations to obtain multiple step adjustment coefficients, adjust the multiple position adjustment steps, and obtain multiple first position adjustment steps.

[0043] According to the multiple first installation deviation parameters and the multiple first extrusion damage parameters, combined with the multiple installation deviation parameters and the multiple extrusion damage parameters, the multiple position adjustment step lengths are adjusted and calculated, including: calculating the ratios of the multiple first installation deviation parameters and the multiple first extrusion damage parameters and the multiple installation deviation parameters and the multiple extrusion damage parameters, and obtaining multiple first installation deviation ratios and multiple first extrusion damage ratios. According to the multiple first installation deviation ratios and the multiple first extrusion damage ratios, weighted calculations are performed to obtain multiple step adjustment coefficients, wherein the weight parameter is a weight ratio set based on the importance of the professional module, and the multiple position adjustment step lengths are multiplied according to the multiple step adjustment coefficients to obtain multiple first position adjustment step lengths.

[0044] The technical solution provided in the embodiment of the present invention obtains multiple actual module specification information and calculates multiple module specification deviation information. Multiple professional modules are lifted, and images are collected after reaching the stage height. Error analysis is performed to obtain multiple identification module lifting error parameters. Multiple module lifting error parameters are obtained in combination with multiple module specification deviation information, and corrections are made according to the remaining lifting distance after analysis to obtain multiple installation deviation parameters and multiple extrusion damage parameters. The lifting position parameters of multiple lifting units are optimized based on the acquired parameters, and the lifting control is completed until multiple professional modules are lifted. The technical problem that it is difficult to achieve accurate lifting and installation control of each professional module in the prior art of mechanical and electrical multi-professional modular construction process, resulting in module position deviation and module extrusion damage, affecting the construction quality is solved. Through the intelligent lifting device and the error analysis technology based on image processing, precise control of multi-professional modules during the lifting process is achieved, which can effectively reduce the risk of module position deviation and extrusion damage, and ensure the technical effect of installation accuracy and safety.

[0045] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for an electromechanical multi-professional module intelligent lifting device, characterized in that: The method is applied to an intelligent lifting device, the intelligent lifting device includes a plurality of lifting units, and the method includes: Perform specification inspection on multiple professional modules in the integrated electromechanical structure to be lifted, obtain multiple actual module specification information, and calculate and obtain multiple module specification deviation information; Using multiple lifting units in the intelligent lifting device, lift multiple professional modules in the integrated electromechanical structure. After reaching a preset lifting stage height, collect the stage lifting image of the integrated electromechanical structure, perform image segmentation and lifting error analysis on the multiple professional modules, obtain multiple identification module lifting error parameters of the multiple professional modules, and calculate and obtain multiple module lifting error parameters in combination with the specification deviation information of the multiple modules; According to the multiple module lifting error parameters, perform installation deviation analysis and extrusion damage analysis of the multiple professional modules caused by the lifting error, obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters, obtain the current remaining lifting distance, perform corrections, and obtain multiple installation deviation parameters and multiple extrusion damage parameters; According to the multiple installation deviation parameters and the multiple extrusion damage parameters, the lifting position parameters of the multiple lifting units are intelligently adjusted and optimized to obtain multiple optimized lifting position parameters, and lifting control is performed until the multiple professional modules are completely lifted; The multiple professional modules include multiple pipeline arrangement structures for water, heating, electricity, and ventilation.

2. The control method of the electromechanical multi-professional module intelligent lifting device according to claim 1 is characterized in that: Perform specification inspection on multiple professional modules in the integrated electromechanical structure to be lifted, obtain multiple actual module specification information, and calculate multiple module specification deviation information, including: Performing specification detection on multiple professional modules in the integrated electromechanical structure to be lifted to obtain multiple actual module specification information; Acquire design standard specification information of the plurality of professional modules; Deviations between the plurality of actual module specification information and the plurality of design standard specification information are calculated to obtain a plurality of module specification deviation information.

3. The control method of the electromechanical multi-professional module intelligent lifting device according to claim 1 is characterized in that: After reaching the preset lifting stage height, the stage lifting image of the integrated electromechanical structure is collected, and the image segmentation and lifting error analysis of the multiple professional modules are performed, including: After reaching a preset lifting stage height, acquiring a stage lifting image of the integrated electromechanical structure; According to the historical lifting data of the electromechanical multi-professional module, a set of sample stage lifting images is collected, and the images of multiple professional modules in each sample stage lifting image are segmented and labeled to obtain multiple sample professional module image sets; Using the sample stage lift image set and multiple sample professional module image sets, based on image segmentation, training a professional module image segmentor, performing image segmentation on the stage lift image, and obtaining multiple professional module images; Acquire the designed lifting position information of the plurality of professional modules, and acquire the actual lifting position information of the plurality of professional module images; Deviations between a plurality of actual lifting position information and a plurality of designed lifting position information are calculated, and lifting error parameters of a plurality of identification modules are obtained by calculation.

4. The control method of the electromechanical multi-professional module intelligent lifting device according to claim 1 is characterized in that: Combined with the multiple module specification deviation information, multiple module lifting error parameters are calculated and obtained, including: According to the plurality of module specification deviation information, a plurality of specification lifting error parameters are set and obtained; The plurality of specification lift error parameters are deleted from the plurality of identification module lift error parameters to obtain a plurality of module lift error parameters.

5. The control method of the electromechanical multi-professional module intelligent lifting device according to claim 1 is characterized in that: According to the plurality of module lifting error parameters, installation deviation analysis and extrusion damage analysis of the plurality of professional modules caused by the lifting error are performed to obtain a plurality of foundation installation deviation parameters and a plurality of foundation extrusion damage parameters, including: According to the historical installation data of the integrated electromechanical structure, multiple sample module lifting error parameter sets are collected, and according to the installation deviation amplitude and the degree of professional module extrusion damage after installation under different sample module lifting error parameters, multiple sample foundation installation deviation parameter sets and multiple sample foundation extrusion damage parameter sets are annotated to obtain; Using the plurality of sample module lifting error parameter sets, the plurality of sample base installation deviation parameter sets and the plurality of sample base extrusion damage parameter sets, training the installation deviation analysis branch and the extrusion damage analysis branch, and obtaining an installation simulation analyzer; The installation simulation analyzer is used to perform installation deviation analysis and extrusion damage analysis on the multiple module lifting error parameters to obtain multiple basic installation deviation parameters and multiple basic extrusion damage parameters.

6. The control method of the electromechanical multi-professional module intelligent lifting device according to claim 5 is characterized in that: Get the current remaining lifting distance, make corrections, and obtain multiple installation deviation parameters and multiple extrusion damage parameters, including: Calculate the remaining lifting distance according to the stage height and the total lifting height; According to the ratio of the remaining lifting distance to the preset distance, the multiple foundation installation deviation parameters and the multiple foundation extrusion damage parameters are corrected and calculated to obtain multiple installation deviation parameters and multiple extrusion damage parameters.

7. The control method of the electromechanical multi-professional module intelligent lifting device according to claim 1 is characterized in that: According to the multiple installation deviation parameters and the multiple extrusion damage parameters, the lifting position parameters of the multiple lifting units are intelligently adjusted and optimized, including: Obtaining a preset position adjustment step length for position adjustment of the plurality of lifting units, and adjusting and calculating the position adjustment step length according to the ratio of the plurality of installation deviation parameters and the plurality of extrusion damage parameters to the allowable installation deviation parameters and the allowable extrusion damage parameters, to obtain a plurality of position adjustment step lengths; According to the plurality of position adjustment step sizes, a plurality of current lifting position parameters of the plurality of lifting units are randomly adjusted to obtain a plurality of first lifting position parameters; Based on the deviations between the multiple first lifting position parameters and the multiple current lifting position parameters, the multiple module lifting error parameters are adjusted to obtain multiple first module lifting error parameters, a first adjustment error degree is calculated, and installation deviation analysis and extrusion damage analysis and correction are performed to obtain multiple first installation deviation parameters and multiple first extrusion damage parameters; According to the plurality of first installation deviation parameters and the plurality of first extrusion damage parameters, in combination with the plurality of installation deviation parameters and the plurality of extrusion damage parameters, adjusting and calculating the plurality of position adjustment step lengths to obtain a plurality of first position adjustment step lengths; Continue to use the multiple first position adjustment step sizes to randomly adjust the multiple first lifting position parameters, and perform iterative optimization of the lifting position parameters of the multiple lifting units; Until the optimization converges, multiple lifting position parameters corresponding to the minimum adjustment error are output as multiple optimized lifting position parameters.

8. The control method of the electromechanical multi-professional module intelligent lifting device according to claim 7 is characterized in that: According to the plurality of first installation deviation parameters and the plurality of first extrusion damage parameters, in combination with the plurality of installation deviation parameters and the plurality of extrusion damage parameters, adjusting and calculating the plurality of position adjustment steps includes: Calculating the multiple first installation deviation parameters and the multiple first extrusion damage parameters and the ratios of the multiple installation deviation parameters and the multiple extrusion damage parameters to obtain multiple first installation deviation ratios and multiple first extrusion damage ratios; According to the multiple first installation deviation ratios and the multiple first extrusion damage ratios, multiple step adjustment coefficients are obtained by weighted calculation respectively, and the multiple position adjustment steps are adjusted and calculated to obtain multiple first position adjustment steps.

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