Intelligent auxiliary system and method for hoisting large components of unit based on UWB (Ultra Wideband) and MEMS (Micro Electro Mechanical System)

Abstract

The invention provides a UWB (Ultra Wideband) and MEMS (Micro Electro Mechanical System)-based intelligent auxiliary system and method for hoisting large components of a unit, and the system comprises a system server, a coordinate resolving server and a core switch which are mounted in a data machine room, the computer terminal and the LED large screen are installed in a monitoring center, and the wireless AP, the access switch, the integrated positioning and attitude sensor, the UWB base station and the mobile terminal are installed in the underground scene environment of large component hoisting operation. Wherein a plurality of integrated positioning and attitude sensors are arranged and are fixedly arranged at monitoring point positions of large components of a unit needing to be monitored. According to the intelligent auxiliary system, equipment position tracking in the unit equipment operation process based on the UWB positioning technology, attitude angle tracking in the unit equipment operation process based on the MEMS technology, three-dimensional visual real-time tracking, hoisting risk alarming and a series of other auxiliary field hoisting operations are carried out, hoisting elements are tracked in real time, the hoisting risk is reduced, and the hoisting efficiency is improved. The hoisting efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unit hoisting, and in particular relates to an intelligent auxiliary system and method for hoisting large unit components based on UWB and MEMS. Background Art

[0002] During the construction and management of hydropower stations, the lifting of large components of the unit is a high-risk operation. Compared with the size of the unit equipment components, the plant space is narrow and the lifting environment is complex. Construction equipment such as bridge cranes and truck cranes need to be lifted together in a limited space. Since the video surveillance installed on site is difficult to cover the real-time changing lifting process, whether in the bridge crane cab or on the ground, it is impossible to fully understand the exact position of the hoisted equipment during lifting in real time. Therefore, limited by the plant space, lifting construction machinery and the size of large components of the unit, it is difficult for on-site commanders to fully grasp the exact position of the unit equipment in a timely manner. Usually, multiple people command at different locations at the same time, which is time-consuming and laborious; during lifting, all construction links that interfere with the path need to stop and wait for lifting construction. Therefore, there are problems of high risk of lifting operations and low lifting efficiency. Summary of the invention

[0003] In view of the defects in the prior art, the present invention provides an intelligent auxiliary system and method for lifting large components of a unit based on UWB and MEMS, which can effectively solve the above problems.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] The present invention provides an intelligent auxiliary system for hoisting large components of a unit based on UWB and MEMS, comprising a system server, a coordinate solution server and a core switch installed in a data room, a computer terminal and a large LED screen installed in a monitoring center, and a wireless AP, an access switch, an integrated positioning and attitude sensor, a UWB base station and a mobile terminal installed in an underground scene environment for hoisting large components of the unit; wherein the integrated positioning and attitude sensor is provided in a plurality of numbers and fixedly installed at the monitoring points of each large component of the unit that needs to be monitored;

[0006] The system server, the coordinate solution server, the computer terminal, the access switch and the wireless AP are all connected to the core switch through a wired local area network, and mutual communication between the system server, the coordinate solution server, the computer terminal, the access switch and the wireless AP is achieved through the core switch;

[0007] In the underground scene environment of the unit large component hoisting operation, a wireless local area network of the underground plant is formed by building a wireless AP; each of the integrated positioning and attitude sensors and the mobile terminal is connected to the wireless AP through the underground plant wireless local area network, and then connected to the wired local area network through the wireless AP;

[0008] In an underground scene environment where large components of a unit are hoisted, a plurality of the UWB base stations are fixedly arranged. The UWB base stations are connected to the access switch via a wired local area network. A UWB positioning network is established through the UWB base stations and the access switch. Each of the integrated positioning and attitude sensors is connected to the UWB base station, so that each of the integrated positioning and attitude sensors is connected to the UWB positioning network.

[0009] Preferably, the integrated positioning and attitude sensor includes a single chip microcomputer, a MEMS sensor, a wireless communication module, a pairing module, a UWB tag chip, a status indicator light, a switch and a battery;

[0010] The single chip microcomputer is respectively connected to the MEMS sensor, the wireless communication module, the pairing module, the UWB tag chip, the status indicator light, the switch and the battery.

[0011] Preferably, the wireless communication module is used to connect the integrated positioning and attitude sensor to the wireless AP; the UWB tag chip is used to connect the integrated positioning and attitude sensor to the UWB positioning network, and then through cooperation with the UWB base station, the UWB base station can locate the integrated positioning and attitude sensor.

[0012] Preferably, the wireless communication module is a wifi or bluetooth communication module; the status indicator light includes a working status indicator light and a charging status indicator light.

[0013] Preferably, the integrated positioning and attitude sensor has a magnetic housing; the integrated positioning and attitude sensor is adsorbed on a monitoring point of a large component of the unit through the magnetic housing.

[0014] The present invention also provides a method of the intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS, which realizes path tracking, collision detection and swing alarm of the lifting operation of large components of the unit in an underground scene environment of the lifting operation of large components of the unit; specifically, it comprises the following steps:

[0015] Step S1: In a coordinate solving server, a three-dimensional virtual environment for unit installation is constructed; the three-dimensional virtual environment for unit installation has a BIM plant model, a BIM large component equipment model and a BIM auxiliary model; and the three-dimensional virtual environment for unit installation has a UWB base station reference point;

[0016] Step S2: in the three-dimensional virtual environment of the unit installation, a virtual three-dimensional space coordinate system is established with the UWB base station reference point as a reference;

[0017] Step S3: According to the plan of the large component hoisting operation of the unit, in the three-dimensional virtual environment of the unit installation, the collision detection boundary of the large component of the unit, the moving speed limit of the large component of the unit and the attitude angle limit of the large component of the unit are pre-determined;

[0018] Step S4: When performing the hoisting operation of the large components of the unit, the coordinate solution server obtains the real-time position and real-time attitude angle of each monitoring point of the large components of the unit in the UWB positioning coordinate system in real time;

[0019] Step S5: the coordinate solution server establishes a coordinate mapping relationship from the UWB positioning coordinate system to the virtual three-dimensional space coordinate system according to the position of the UWB base station;

[0020] According to the coordinate mapping relationship, the real-time position and real-time attitude angle in the UWB positioning coordinate system are mapped to the real-time position and real-time attitude angle in the virtual three-dimensional space coordinate system;

[0021] Step S6: the coordinate solving server locates the BIM large component equipment model corresponding to the large component of the unit in the virtual three-dimensional space coordinate system, and synchronously adjusts the position and attitude angle of the BIM large component equipment model according to the real-time position and real-time attitude angle in the virtual three-dimensional space coordinate system, so that the real-time position and real-time attitude angle of the BIM large component equipment model in the virtual three-dimensional space coordinate system are consistent with the real-time position and real-time attitude angle in the UWB positioning coordinate system in real time;

[0022] Step S7: Therefore, in the three-dimensional virtual environment of the unit installation, the coordinate solution server controls each BIM large component equipment model in real time, and determines in real time whether the spatial position and outer contour of each BIM large component equipment model collides with the collision detection boundary. If not, the display state is normal; if yes, the first alarm is issued in real time;

[0023] Step S8: The coordinate solving server calculates the real-time moving speed according to the solved real-time position of each BIM large component equipment model, and compares it with the corresponding large component moving speed limit of the unit. If the large component moving speed limit of the unit is reached, a second alarm is issued in real time; if it is not reached, the status is displayed as normal;

[0024] Step S9: The coordinate solving server compares the solved real-time attitude angle of each BIM large component equipment model with the corresponding large component attitude angle limit of the unit. If the large component attitude angle limit of the unit is reached, a second alarm is issued in real time; if it is not reached, the status is displayed as normal;

[0025] Step S10: Therefore, the coordinate solution server obtains the status and alarm information of each BIM model in the three-dimensional virtual environment in real time, obtains the three-dimensional virtual scene of the unit operation in real time, and synchronizes the three-dimensional virtual scene of the unit operation to the system server, computer terminal and mobile terminal in real time; the computer terminal displays the three-dimensional virtual scene of the unit operation in real time through the LED large screen.

[0026] Preferably, step S4 is specifically:

[0027] Step S4.1: An integrated positioning and attitude sensor is installed at the monitoring point of the large component of the unit; during the movement of the large component of the unit, the coordinate solution server obtains the real-time position of the monitoring point of the large component of the unit in the UWB positioning coordinate system in real time through step S4.2; and obtains the real-time attitude angle of the monitoring point of the large component of the unit in the UWB positioning coordinate system in real time through step S4.3;

[0028] Step S4.2: Acquisition of real-time position in the UWB positioning coordinate system:

[0029] Step S4.2.1: In the large component hoisting operation environment of the unit, the UWB base stations at various locations send pulse detection signals carrying the detection signal sequence number and the UWB base station identification to space in real time;

[0030] Step S4.2.2: The UWB tag chip in the integrated positioning and attitude sensor receives the pulse detection signal from each UWB base station in real time and sends it to the pairing module;

[0031] The pairing module compares the strength of the pulse detection signals from each UWB base station, obtains the pulse detection signal with the maximum current signal strength as the pulse detection signal for successful pairing, and notifies the UWB tag chip;

[0032] Step S4.2.3: The UWB tag chip extracts the UWB base station identifier of the pulse detection signal with the current maximum signal strength, and then adds the UWB tag to the pulse detection signal with the current maximum signal strength. The UWB tag is used to identify the integrated positioning and attitude sensor, and returns the pulse detection signal with the current maximum signal strength added with the UWB tag to the corresponding UWB base station;

[0033] Step S4.2.4: The UWB base station receives the pulse detection signal returned by the UWB tag chip, analyzes the pulse detection signal, obtains the orientation of the UWB tag chip relative to the UWB base station and the spatial distance between the UWB tag chip and the UWB base station, thereby obtaining the real-time position of the UWB tag chip in the UWB positioning coordinate system;

[0034] Step S4.2.5: The UWB base station sends the acquired real-time position of the integrated positioning and attitude sensor to the access switch via the wired LAN; the access switch then uploads it to the coordinate solution server via the wired LAN;

[0035] Step S4.3: Acquisition of real-time attitude angle in UWB positioning coordinate system:

[0036] Step S4.3.1: The MEMS sensor of the integrated positioning and attitude sensor detects in real time to obtain the real-time attitude angle of the monitoring point of the unit's major components in the UWB positioning coordinate system, and uploads it to the wireless AP through the wireless communication module;

[0037] Step S4.3.2: The wireless AP transmits the received real-time attitude angle of the monitoring point of the unit's major components in the UWB positioning coordinate system to the core switch via the wired LAN; the core switch then transmits it to the coordinate solution server via the wired LAN.

[0038] Preferably, the real-time attitude angle includes a roll angle, a pitch angle and a yaw angle.

[0039] The intelligent auxiliary system and method for hoisting large components of a unit based on UWB and MEMS provided by the present invention have the following advantages:

[0040] The present invention provides an intelligent auxiliary system and method for lifting large components of a unit based on UWB and MEMS, and relates to a three-dimensional visualization application of UWB positioning and MEMS attitude tracking systems in the process of lifting the unit. Specifically, it is an intelligent auxiliary system for lifting large components of a unit based on UWB positioning and MEMS attitude tracking technologies. The intelligent auxiliary system can assist in lifting operations on site, such as equipment position tracking during the operation of the unit equipment based on UWB positioning technology, attitude angle tracking during the operation of the unit equipment based on MEMS technology, three-dimensional visualization real-time tracking, and lifting risk alarm, so as to track lifting elements in real time, reduce lifting risks, and improve lifting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The overall structural principle diagram of an intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS provided by the present invention;

[0042] Figure 2 A structural principle diagram of the integrated positioning and attitude sensor provided by the present invention;

[0043] Figure 3 A front view of the integrated positioning and attitude sensor provided by the present invention;

[0044] Figure 4 A side view of the integrated positioning and attitude sensor provided by the present invention;

[0045] Figure 5 The present invention provides a flow chart of an intelligent auxiliary method for lifting large unit components based on UWB and MEMS. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] The present invention provides an intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS, and relates to a three-dimensional visualization application of UWB positioning and MEMS attitude tracking systems in the process of lifting the unit. Specifically, it is an intelligent auxiliary system for lifting large components of a unit based on UWB positioning and MEMS attitude tracking technologies. The intelligent auxiliary system can assist in lifting operations on site, such as equipment position tracking during the operation of unit equipment based on UWB positioning technology, attitude angle tracking during the operation of unit equipment based on MEMS technology, three-dimensional visualization real-time tracking, and lifting risk alarm, so as to track lifting elements in real time, reduce lifting risks, and improve lifting efficiency.

[0048] See also Figure 1 The present invention provides an intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS, which is based on the combination of UWB positioning, MEMS posture tracking and lifting intelligent auxiliary software to improve the safety and efficiency of the unit lifting process. It specifically includes a system server, a coordinate solution server and a core switch installed in a data room, a computer terminal and a large LED screen installed in a monitoring center, and a wireless AP, an access switch, an integrated positioning and posture sensor, a UWB base station and a mobile terminal installed in an underground scene environment for lifting large components of the unit; wherein the number of the integrated positioning and posture sensors is multiple, and they are fixedly installed at the monitoring points of each large component of the unit that needs to be monitored;

[0049] The system server, the coordinate solution server, the computer terminal, the access switch and the wireless AP are all connected to the core switch through a wired local area network, and mutual communication between the system server, the coordinate solution server, the computer terminal, the access switch and the wireless AP is achieved through the core switch;

[0050] In the underground scene environment of the unit large component hoisting operation, a wireless local area network of the underground plant is formed by building a wireless AP; each of the integrated positioning and attitude sensors and the mobile terminal is connected to the wireless AP through the underground plant wireless local area network, and then connected to the wired local area network through the wireless AP;

[0051] In an underground scene environment where large components of a unit are hoisted, a plurality of the UWB base stations are fixedly arranged. The UWB base stations are connected to the access switch via a wired local area network. A UWB positioning network is established through the UWB base stations and the access switch. Each of the integrated positioning and attitude sensors is connected to the UWB base station, so that each of the integrated positioning and attitude sensors is connected to the UWB positioning network.

[0052] As an example, see Figure 2 , Figure 3 and Figure 4 , the integrated positioning and attitude sensor includes a single chip microcomputer, a MEMS sensor, a wireless communication module, a pairing module, a UWB tag chip, a status indicator light, a switch and a battery;

[0053] The single chip microcomputer is connected to the MEMS sensor, the wireless communication module, the pairing module, the UWB tag chip, the status indicator light, the switch and the battery respectively. The wireless communication module is a wifi or bluetooth communication module; the status indicator light includes a working status indicator light and a charging status indicator light.

[0054] The wireless communication module is used to connect the integrated positioning and attitude sensor to the wireless AP; the UWB tag chip is used to connect the integrated positioning and attitude sensor to the UWB positioning network, and then through cooperation with the UWB base station, the UWB base station can locate the integrated positioning and attitude sensor.

[0055] The integrated positioning and attitude sensor has a magnetic shell; the integrated positioning and attitude sensor is adsorbed on the monitoring point of the large component of the unit through the magnetic shell.

[0056] The present invention solves the problem of horizontal position tracking and attitude tracking of large unit components during hoisting. It combines the three-dimensional virtual environment for unit installation constructed with virtual reality three-dimensional visualization technology to reproduce the real-time position and real-time attitude of the equipment attached to the integrated positioning and attitude sensor in the three-dimensional virtual environment. In addition, computer terminals or mobile terminals at the hoisting site can view parameters such as the horizontal position and installation attitude angle of large unit components in real time through three-dimensional visualization. Once the equipment position and angle exceed the safety limit of the deduction scheme, an alarm will be immediately issued, thereby reducing the risk of hoisting and improving the efficiency of hoisting. Based on UWB positioning and MEMS attitude tracking, the present invention realizes visual tracking and alarm assistance in the whole process of equipment attitude adjustment, equipment hoisting, equipment pit entry, equipment leveling, equipment placement, etc. in the hoisting operation of power station unit equipment.

[0057] See also Figure 5 The present invention also provides a method of an intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS, which realizes path tracking, collision detection and swing alarm of lifting large components of a unit in an underground scene environment of lifting large components of a unit; specifically, it includes the following steps:

[0058] Step S1: In a coordinate solving server, a three-dimensional virtual environment for unit installation is constructed; the three-dimensional virtual environment for unit installation has a BIM plant model, a BIM large component equipment model and a BIM auxiliary model; and the three-dimensional virtual environment for unit installation has a UWB base station reference point;

[0059] Step S2: in the three-dimensional virtual environment of the unit installation, a virtual three-dimensional space coordinate system is established with the UWB base station reference point as a reference;

[0060] Step S3: According to the plan of the large component hoisting operation of the unit, in the three-dimensional virtual environment of the unit installation, the collision detection boundary of the large component of the unit, the moving speed limit of the large component of the unit and the attitude angle limit of the large component of the unit are pre-determined;

[0061] Step S4: When performing the lifting operation of large components of the unit, the coordinate solution server obtains the real-time position and real-time attitude angle of each large component monitoring point of the unit in the UWB positioning coordinate system in real time; wherein the real-time attitude angle includes the roll angle, pitch angle and yaw angle.

[0062] Step S4 is specifically as follows:

[0063] Step S4.1: An integrated positioning and attitude sensor is installed at the monitoring point of the large component of the unit; during the movement of the large component of the unit, the coordinate solution server obtains the real-time position of the monitoring point of the large component of the unit in the UWB positioning coordinate system in real time through step S4.2; and obtains the real-time attitude angle of the monitoring point of the large component of the unit in the UWB positioning coordinate system in real time through step S4.3;

[0064] Step S4.2: Acquisition of real-time position in the UWB positioning coordinate system:

[0065] Step S4.2.1: In the large component hoisting operation environment of the unit, the UWB base stations at various locations send pulse detection signals carrying the detection signal sequence number and the UWB base station identification to space in real time;

[0066] Step S4.2.2: The UWB tag chip in the integrated positioning and attitude sensor receives the pulse detection signal from each UWB base station in real time and sends it to the pairing module;

[0067] The pairing module compares the strength of the pulse detection signals from each UWB base station, obtains the pulse detection signal with the maximum current signal strength as the pulse detection signal for successful pairing, and notifies the UWB tag chip;

[0068] Step S4.2.3: The UWB tag chip extracts the UWB base station identifier of the pulse detection signal with the current maximum signal strength, and then adds the UWB tag to the pulse detection signal with the current maximum signal strength. The UWB tag is used to identify the integrated positioning and attitude sensor, and returns the pulse detection signal with the current maximum signal strength added with the UWB tag to the corresponding UWB base station;

[0069] Step S4.2.4: The UWB base station receives the pulse detection signal returned by the UWB tag chip, analyzes the pulse detection signal, obtains the orientation of the UWB tag chip relative to the UWB base station and the spatial distance between the UWB tag chip and the UWB base station, thereby obtaining the real-time position of the UWB tag chip in the UWB positioning coordinate system;

[0070] Step S4.2.5: The UWB base station sends the acquired real-time position of the integrated positioning and attitude sensor to the access switch via the wired LAN; the access switch then uploads it to the coordinate solution server via the wired LAN;

[0071] Step S4.3: Acquisition of real-time attitude angle in UWB positioning coordinate system:

[0072] Step S4.3.1: The MEMS sensor of the integrated positioning and attitude sensor detects in real time to obtain the real-time attitude angle of the monitoring point of the unit's major components in the UWB positioning coordinate system, and uploads it to the wireless AP through the wireless communication module;

[0073] Step S4.3.2: The wireless AP transmits the received real-time attitude angle of the monitoring point of the unit's major components in the UWB positioning coordinate system to the core switch via the wired LAN; the core switch then transmits it to the coordinate solution server via the wired LAN.

[0074] Step S5: the coordinate solution server establishes a coordinate mapping relationship from the UWB positioning coordinate system to the virtual three-dimensional space coordinate system according to the position of the UWB base station;

[0075] According to the coordinate mapping relationship, the real-time position and real-time attitude angle in the UWB positioning coordinate system are mapped to the real-time position and real-time attitude angle in the virtual three-dimensional space coordinate system;

[0076] Step S6: the coordinate solving server locates the BIM large component equipment model corresponding to the large component of the unit in the virtual three-dimensional space coordinate system, and synchronously adjusts the position and attitude angle of the BIM large component equipment model according to the real-time position and real-time attitude angle in the virtual three-dimensional space coordinate system, so that the real-time position and real-time attitude angle of the BIM large component equipment model in the virtual three-dimensional space coordinate system are consistent with the real-time position and real-time attitude angle in the UWB positioning coordinate system in real time;

[0077] Step S7: Therefore, in the three-dimensional virtual environment of the unit installation, the coordinate solution server controls each BIM large component equipment model in real time, and determines in real time whether the spatial position and outer contour of each BIM large component equipment model collides with the collision detection boundary. If not, the display state is normal; if yes, the first alarm is issued in real time;

[0078] Step S8: The coordinate solving server calculates the real-time moving speed according to the solved real-time position of each BIM large component equipment model, and compares it with the corresponding large component moving speed limit of the unit. If the large component moving speed limit of the unit is reached, a second alarm is issued in real time; if it is not reached, the status is displayed as normal;

[0079] Step S9: The coordinate solving server compares the solved real-time attitude angle of each BIM large component equipment model with the corresponding large component attitude angle limit of the unit. If the large component attitude angle limit of the unit is reached, a second alarm is issued in real time; if it is not reached, the status is displayed as normal;

[0080] Step S10: Therefore, the coordinate solution server obtains the status and alarm information of each BIM model in the three-dimensional virtual environment in real time, obtains the three-dimensional virtual scene of the unit operation in real time, and synchronizes the three-dimensional virtual scene of the unit operation to the system server, computer terminal and mobile terminal in real time; the computer terminal displays the three-dimensional virtual scene of the unit operation in real time through the LED large screen.

[0081] The intelligent auxiliary system and method for hoisting large components of a unit based on UWB and MEMS provided by the present invention have the following characteristics:

[0082] (1) An intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS, including a system server, a coordinate solution server, a computer terminal, a large LED screen, a UWB base station, an integrated positioning and attitude sensor, a wireless AP, a mobile terminal, and various switches, including a core switch and an access switch; according to the location characteristics of the equipment, the above-mentioned equipment is connected to communicate through a wired LAN, a wireless LAN, and a UWB positioning network, and the intelligent auxiliary lifting software installed in the coordinate solution server is used to form an intelligent auxiliary system for lifting large components of the unit;

[0083] Among them: the integrated positioning and attitude sensor is composed of UWB tag chip, MEMS sensor, wireless communication module and battery and other components. It can simultaneously measure the horizontal position, acceleration, angle and other positioning and attitude data of the large components of the unit, and realize the real-time position tracking of the large components of the unit during the unit lifting process, equipment turning posture tracking, equipment leveling and other applications. The magnetic shell is convenient for adsorption on the large components of the unit, easy to install, and supports the collaborative application of multiple sensors.

[0084] Furthermore, according to the characteristics of the installation environment of the integrated positioning and attitude sensor, since the positioning signals such as GPS in the underground environment are poor, the present invention adopts UWB positioning technology to realize the real-time position tracking of the large components of the unit, and transmits it to the access switch through the limited local area network, and finally transmits it to the coordinate solution server through the limited local area network. Therefore, the real-time position tracking of the large components of the unit is realized by UWB positioning technology, and finally it is uploaded to the coordinate solution server through the limited local area network, which can ensure the reliability and real-time performance of the real-time position upload of the large components of the unit, and meet the demand for real-time position tracking of the large components of the unit.

[0085] Furthermore, for the real-time attitude information of the large components of the unit collected in real time by the MEMS sensor of the integrated positioning and attitude sensor, the present invention first transmits it to the wireless AP through the wireless local area network, then transmits it to the core switch through the limited local area network, and finally transmits it to the coordinate solution server through the limited local area network. On the one hand, since the integrated positioning and attitude sensor is installed at the monitoring point of the large components of the unit, the use of the wireless local area network can avoid interference with the movement of the large components of the unit; combined with the upload method of the limited local area network, the reliability and real-time performance of the real-time attitude upload of the large components of the unit are guaranteed, meeting the demand for real-time attitude tracking of the large components of the unit.

[0086] Therefore, in the present invention, a comprehensive approach of wired LAN, wireless LAN and UWB positioning network is adopted to ensure both the real-time and accurate collection of the real-time position and real-time attitude of the large components of the unit, and the reliability and real-time performance of uploading the collected data to the coordinate solution server, thereby meeting the demand for real-time position and real-time attitude tracking of the large components of the unit.

[0087] (ii) In the present invention, the coordinate solving server reproduces the real-time position and real-time posture of the equipment to which the integrated positioning and posture sensor is attached in the three-dimensional virtual environment based on the real-time collected real-time position and real-time posture of the large components of the unit, combined with the three-dimensional virtual environment of the unit installation constructed by virtual reality three-dimensional visualization technology. In addition, the system presets a virtual lifting simulation plan. Once the working parameters such as the real-time position and real-time posture of the equipment exceed the safety limit of the simulation plan, an alarm will be immediately issued, thereby ensuring the operational safety of the lifting process of the large components of the unit.

[0088] (III) The real-time status and alarm information of each large component of the unit in the three-dimensional virtual environment reproduced in the coordinate solution server are synchronized in real time to the computer terminal of the monitoring center or the mobile terminal at the lifting site. Therefore, the computer terminal of the monitoring center or the mobile terminal at the lifting site can view the real-time position and real-time posture of the large components of the unit through three-dimensional visualization, and display the distance and angle between the lifting equipment and the concrete wall of the factory building in real time through visual auxiliary markings, so as to assist the on-site ground command personnel to comprehensively view the surrounding environment and ensure the operational safety of the lifting process of the large components of the unit.

[0089] (IV) The system supports multiple sensors working simultaneously and can accurately track multiple points on a single device, making it convenient for use in scenarios such as ball valve turning over and equipment leveling.

[0090] (V) During the lifting operation of large components of power station units, the intelligent lifting assistance system reduces lifting risks and improves lifting efficiency by realizing functions such as unit horizontal position tracking, rotation angle tracking, and lifting alarm.

[0091] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be considered as the scope of protection of the present invention.

Claims

1. An intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS, characterized in that: It includes system servers, coordinate solving servers and core switches installed in the data room, computer terminals and LED screens installed in the monitoring center, and wireless APs, access switches, integrated positioning and attitude sensors, UWB base stations and mobile terminals installed in the underground scene environment of large unit component hoisting operations; wherein the integrated positioning and attitude sensors are set in multiple quantities and fixedly installed at the monitoring points of each large unit component that needs to be monitored; The system server, the coordinate solution server, the computer terminal, the access switch and the wireless AP are all connected to the core switch through a wired local area network, and mutual communication between the system server, the coordinate solution server, the computer terminal, the access switch and the wireless AP is achieved through the core switch; In the underground scene environment of the unit large component hoisting operation, a wireless local area network of the underground plant is formed by building a wireless AP; each of the integrated positioning and attitude sensors and the mobile terminal is connected to the wireless AP through the underground plant wireless local area network, and then connected to the wired local area network through the wireless AP; In an underground scene environment where large components of a unit are hoisted, a plurality of the UWB base stations are fixedly arranged. The UWB base stations are connected to the access switch via a wired local area network. A UWB positioning network is established through the UWB base stations and the access switch. Each of the integrated positioning and attitude sensors is connected to the UWB base station, so that each of the integrated positioning and attitude sensors is connected to the UWB positioning network.

2. According to claim 1, a UWB and MEMS-based intelligent auxiliary system for lifting large components of a unit is characterized in that: The integrated positioning and attitude sensor includes a single chip microcomputer, a MEMS sensor, a wireless communication module, a pairing module, a UWB tag chip, a status indicator light, a switch and a battery; The single chip microcomputer is respectively connected to the MEMS sensor, the wireless communication module, the pairing module, the UWB tag chip, the status indicator light, the switch and the battery.

3. According to claim 2, the intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS is characterized in that: The wireless communication module is used to connect the integrated positioning and attitude sensor to the wireless AP; the UWB tag chip is used to connect the integrated positioning and attitude sensor to the UWB positioning network, and then through cooperation with the UWB base station, the UWB base station can locate the integrated positioning and attitude sensor.

4. According to claim 2, the intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS is characterized in that: The wireless communication module is a wifi or bluetooth communication module; the status indicator light includes a working status indicator light and a charging status indicator light.

5. According to claim 2, the intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS is characterized in that: The integrated positioning and attitude sensor has a magnetic shell; the integrated positioning and attitude sensor is adsorbed on the monitoring point of the large component of the unit through the magnetic shell.

6. A method of a large unit component lifting intelligent auxiliary system based on UWB and MEMS as claimed in any one of claims 1 to 5, characterized in that: Realize path tracking, collision detection and swing alarm of large unit component hoisting operation in underground scene environment of large unit component hoisting operation; specifically include the following steps: Step S1: In a coordinate solving server, a three-dimensional virtual environment for unit installation is constructed; the three-dimensional virtual environment for unit installation has a BIM plant model, a BIM large component equipment model and a BIM auxiliary model; and the three-dimensional virtual environment for unit installation has a UWB base station reference point; Step S2: in the three-dimensional virtual environment of the unit installation, a virtual three-dimensional space coordinate system is established with the UWB base station reference point as a reference; Step S3: According to the plan of the large component hoisting operation of the unit, in the three-dimensional virtual environment of the unit installation, the collision detection boundary of the large component of the unit, the moving speed limit of the large component of the unit and the attitude angle limit of the large component of the unit are pre-determined; Step S4: When performing the hoisting operation of the large components of the unit, the coordinate solution server obtains the real-time position and real-time attitude angle of each monitoring point of the large components of the unit in the UWB positioning coordinate system in real time; Step S5: the coordinate solution server establishes a coordinate mapping relationship from the UWB positioning coordinate system to the virtual three-dimensional space coordinate system according to the position of the UWB base station; According to the coordinate mapping relationship, the real-time position and real-time attitude angle in the UWB positioning coordinate system are mapped to the real-time position and real-time attitude angle in the virtual three-dimensional space coordinate system; Step S6: the coordinate solving server locates the BIM large component equipment model corresponding to the large component of the unit in the virtual three-dimensional space coordinate system, and synchronously adjusts the position and attitude angle of the BIM large component equipment model according to the real-time position and real-time attitude angle in the virtual three-dimensional space coordinate system, so that the real-time position and real-time attitude angle of the BIM large component equipment model in the virtual three-dimensional space coordinate system are consistent with the real-time position and real-time attitude angle in the UWB positioning coordinate system in real time; Step S7: Therefore, in the three-dimensional virtual environment of the unit installation, the coordinate solution server controls each BIM large component equipment model in real time, and determines in real time whether the spatial position and outer contour of each BIM large component equipment model collides with the collision detection boundary. If not, the display state is normal; if yes, the first alarm is issued in real time; Step S8: The coordinate solving server calculates the real-time moving speed according to the solved real-time position of each BIM large component equipment model, and compares it with the corresponding large component moving speed limit of the unit. If the large component moving speed limit of the unit is reached, a second alarm is issued in real time; if it is not reached, the status is displayed as normal; Step S9: The coordinate solving server compares the solved real-time attitude angle of each BIM large component equipment model with the corresponding large component attitude angle limit of the unit. If the large component attitude angle limit of the unit is reached, a second alarm is issued in real time; if it is not reached, the status is displayed as normal; Step S10: Therefore, the coordinate solution server obtains the status and alarm information of each BIM model in the three-dimensional virtual environment in real time, obtains the three-dimensional virtual scene of the unit operation in real time, and synchronizes the three-dimensional virtual scene of the unit operation to the system server, computer terminal and mobile terminal in real time; the computer terminal displays the three-dimensional virtual scene of the unit operation in real time through the LED large screen.

7. The method of the intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS according to claim 6 is characterized in that: Step S4 is specifically as follows: Step S4.1: An integrated positioning and attitude sensor is installed at the monitoring point of the large component of the unit; during the movement of the large component of the unit, the coordinate solution server obtains the real-time position of the monitoring point of the large component of the unit in the UWB positioning coordinate system in real time through step S4.2; and obtains the real-time attitude angle of the monitoring point of the large component of the unit in the UWB positioning coordinate system in real time through step S4.3; Step S4.2: Acquisition of real-time position in the UWB positioning coordinate system: Step S4.2.1: In the large component hoisting operation environment of the unit, the UWB base stations at various locations send pulse detection signals carrying the detection signal sequence number and the UWB base station identification to space in real time; Step S4.2.2: The UWB tag chip in the integrated positioning and attitude sensor receives the pulse detection signal from each UWB base station in real time and sends it to the pairing module; The pairing module compares the strength of the pulse detection signals from each UWB base station, obtains the pulse detection signal with the maximum current signal strength as the pulse detection signal for successful pairing, and notifies the UWB tag chip; Step S4.2.3: The UWB tag chip extracts the UWB base station identifier of the pulse detection signal with the current maximum signal strength, and then adds the UWB tag to the pulse detection signal with the current maximum signal strength. The UWB tag is used to identify the integrated positioning and attitude sensor, and returns the pulse detection signal with the current maximum signal strength added with the UWB tag to the corresponding UWB base station; Step S4.2.4: The UWB base station receives the pulse detection signal returned by the UWB tag chip, analyzes the pulse detection signal, obtains the orientation of the UWB tag chip relative to the UWB base station and the spatial distance between the UWB tag chip and the UWB base station, thereby obtaining the real-time position of the UWB tag chip in the UWB positioning coordinate system; Step S4.2.5: The UWB base station sends the acquired real-time position of the integrated positioning and attitude sensor to the access switch via the wired LAN; the access switch then uploads it to the coordinate solution server via the wired LAN; Step S4.3: Acquisition of real-time attitude angle in UWB positioning coordinate system: Step S4.3.1: The MEMS sensor of the integrated positioning and attitude sensor detects in real time to obtain the real-time attitude angle of the monitoring point of the unit's major components in the UWB positioning coordinate system, and uploads it to the wireless AP through the wireless communication module; Step S4.3.2: The wireless AP transmits the received real-time attitude angle of the monitoring point of the unit's major components in the UWB positioning coordinate system to the core switch via the wired LAN; The core switch then uploads the data to the coordinate solution server via the wired local area network.

8. The method of the intelligent auxiliary system for lifting large components of a unit based on UWB and MEMS according to claim 7 is characterized in that: The real-time attitude angle includes roll angle, pitch angle and yaw angle.

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