Parallel control method, system, equipment and storage medium for mobile umbrella-shaped crossing frame

Abstract

A parallel control method for mobile umbrella spans includes: constructing a construction scenario digital twin model based on a real-world construction scenario, constructing digital twin models for each mobile span, and constructing a parallel control model connecting the mobile span digital twin model with the actual mobile span system under construction; constructing a knowledge graph of the mobile umbrella span and construction scenarios based on the construction route design and construction plan, as well as construction safety specifications and standards; constructing a construction plan for the mobile umbrella span based on the digital twin model and the knowledge graph, and performing construction deduction in the digital twin model to obtain a construction plan; and performing parallel control of on-site construction based on the parallel control model connecting the mobile span digital twin model with the actual mobile span system under construction, targeting the construction plan. Through digital planning, safety risks can be avoided in advance during the construction process, ensuring the reasonable implementation of the construction plan and orderly guiding subsequent construction.

Description

Technical Field

[0001] This invention relates to a method, system, device, and storage medium for parallel control of a mobile umbrella-shaped crossing frame, specifically applicable to real-time risk management and intelligent control during the construction process of overhead line crossing scenarios. Background Technology

[0002] Mobile crossing frames are used for mechanized construction in cross-spanning projects. However, considering the complex environment of the construction site, the constraints of mechanized construction due to natural conditions, and the lack of detailed and scientific tools for planning and simulation of construction schemes, research on construction planning and dynamic simulation in mobile crossing frame construction scenarios remains lacking. Furthermore, with the increasing digitization of equipment at construction sites, the processing of large amounts of data and the management and control of complex systems have become pressing issues affecting construction safety and efficiency. Management personnel also urgently require a more efficient digital management method.

[0003] To address these issues, it is imperative to propose a new generation of multi-data-driven intelligent management frameworks to meet future challenges. The concepts of parallel systems and digital twins offer new paradigms for solving these problems. Parallel systems enable better management and control of complex systems. They can generate numerous scenarios based on artificial systems, and within these scenarios, plan and simulate construction scenarios, analyze optimal control schemes, and achieve adaptive optimization control. Digital twins fully utilize sensing technology, big data technology, and simulation modeling analysis oriented towards multiple disciplines, multiple physical quantities, and multiple scales. Using model-driven, data-driven, and a combination of both, they establish virtual entities in the digital world that are synchronized with the entire lifecycle of physical entities, simulating and predicting the characteristics and changing patterns of physical entities. The parallel system construction of this invention draws on the modeling methods of digital twins, aiming to achieve the highest accuracy and maximum fidelity model, while adhering to the basic principles of parallel systems. This overcomes the shortcomings of digital twins, which can only predict future changes based on the actual data of physical entities, cannot evaluate the performance of systems with multiple schemes and parameters, and are prone to getting trapped in local optima. The implementation of parallel systems expands the information space and boundaries of mechanized construction of transmission lines, better simulates complex systems, provides more comprehensive optimized control schemes, and establishes a new solution for traditional power grid construction methods in the digital age.

[0004] Based on the above, in order to improve the safety and efficiency of mobile umbrella-shaped crossing frame construction, the key issues in establishing a parallel control system for mobile umbrella-shaped crossing frames are: how to construct a three-dimensional digital model corresponding to the mobile umbrella-shaped crossing frame; how to construct a knowledge graph for crossing frame construction and complete the digital planning and simulation of the entire construction process; and how to achieve autonomous parallel control of the crossing frame based on the planning and simulation results and through mechanical optimal control theory. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems of complex construction site environments, mechanized construction being constrained by natural conditions and other factors, and low on-site construction efficiency in the existing technology. It provides a method, system, equipment and storage medium for parallel control of mobile umbrella-shaped crossing frames that automatically plans construction schemes and realizes parallel control during construction.

[0006] To achieve the above objectives, the technical solution of the present invention is:

[0007] In a first aspect, the present invention provides a method for parallel control of a mobile umbrella-shaped crossing frame, comprising the following steps:

[0008] A digital twin model of the construction scenario is constructed based on the actual construction scenario. A digital twin model of each mobile crossing frame is constructed based on different crossing frame models. A parallel control model is constructed that connects the digital twin model of the mobile crossing frame with the actual construction mobile crossing frame system.

[0009] Based on the design and construction plan of the line to be constructed, the actual construction plan of the historical construction line, and the current construction safety specifications and standards, a knowledge graph of the mobile umbrella-shaped crossing frame and construction operation scenarios is constructed.

[0010] Based on digital twin models and knowledge graphs, a construction plan for a mobile umbrella-shaped crossing frame is constructed, and construction simulation is performed in the digital twin model to obtain a construction plan scheme.

[0011] Parallel control of on-site construction is carried out based on the parallel control model of the digital twin model of the mobile crossing frame and the actual construction mobile crossing frame system, with the construction planning scheme as the target.

[0012] A digital twin model of the construction scene is constructed based on the real construction scenario. The relevant parameter information of the line to be constructed is imported into the model, including the distribution coordinate information of each tower, tower model, tower number and the layout and installation design information of the transmission line. At the same time, the domestic road network information based on the map is synchronized proportionally on the bottom layer of the model, so that the coordinates of the digital twin scene correspond one-to-one with the coordinates of the map, thus obtaining the digital twin model of the construction scene.

[0013] Digital twin models of mobile crossing frames were constructed based on different crossing frame models. Three-dimensional geometric models were obtained through parametric design. The physical, behavioral and rule models of each subsystem were defined according to the actual operation mode of the mobile crossing frame, forming a high-fidelity mapping of the physical entity.

[0014] Then, digital twin models were constructed for the construction equipment and materials that are used with the crossing frame.

[0015] The constructed digital twin models of the mobile crossing frame and the construction equipment and materials can all be deployed into the construction scene digital twin model according to the construction plan;

[0016] A parallel control model is constructed that connects the digital twin model of the mobile crossing frame with the actual mobile crossing frame system under construction. This enables the control signals of the digital twin model to synchronously control the actual mobile crossing frame system under construction. At the same time, the actual mobile crossing frame system feeds back the received sensor signals from the mobile crossing frame to the digital twin model of the mobile crossing frame to assist in the feedback adjustment of the parallel control model.

[0017] The method for constructing a parallel control model that connects the digital twin model of the mobile crossing frame with the actual mobile crossing frame system under construction is as follows:

[0018] The parallel control problem of the gantry is essentially a target tracking problem involving the velocity and pose of the target on the gantry. Discretizing the time of the target tracking problem, for a certain moment, the desired state of the target at time t+1 is:

[0019] x d [t+1]=A d x d [t]

[0020] Among them, A d Let x be the target transition matrix. d [t] represents the desired state of crossing the frame at time t, x d [t+1] represents the desired state of the crossing frame at time t+1;

[0021] Construct the state equations of the gantry:

[0022] x[t+1] = Ax[t] + Bu[t]

[0023] Where x[t+1] is the target state of the bridging frame at time t+1, A is the state matrix of the bridging frame, B is the input control matrix of the bridging frame, and u[t] is the input control vector of the bridging frame system at time t;

[0024] Since the velocity and pose of the passive target on the bridging frame are both constant vectors, A d =I; Define error:

[0025] e[t]=x[t]-x d [t]

[0026] Where e[t] is the control error of the crossing frame at time t;

[0027] At this point, the target tracking problem is transformed into a class of error adjustment problems; integrating the above equations:

[0028]

[0029] At this point, we obtain the augmented form of the space state equation: x a [t+1]=A a x a [t]+B a u[t]

[0030] Where x a [t+1] is the state vector of the crossing frame at time t+1 after the merger, A a Let x be the state matrix of the merged gantry. a [t] represents the state vector of the crossing frame at time t after the merger, B a Given the input control matrix of the merged strut; then:

[0031]

[0032] Among them, C a [II];

[0033] Based on parallel control theory, the cost function J can be constructed:

[0034]

[0035] Where S is a symmetric positive definite matrix, usually used to weigh the importance of the state error e[t] at time t, Q is the state cost weighting matrix, R is the control cost weighting matrix, and N represents the previous N time steps;

[0036] This cost function is constructed as the cost function in the tracking problem: e[t] represents the error between the current state and the expected state at the current moment. T Qe[t] represents the cost or energy required to reduce the accumulated error from the past; u[t] T Ru[t] is the energy required for the system to reach the next state at this moment; substituting e[t] into J, we get:

[0037]

[0038] Let S a =C a T SC a Q a =C a T QC a The cost function is:

[0039]

[0040] At this point, the cost function and the augmented state space equation conform to the linear quadratic canonical form; through the above process, a class of error tracking problems has been successfully transformed into a class of regulation problems;

[0041] The linear quadratic controller uses state feedback u[t]=-Kx a Using [t] to minimize the cost function, we obtain:

[0042]

[0043] Suppose a constant matrix P satisfies:

[0044]

[0045] Let K = R -1 B a T P, we can obtain A a T P+PA a +Q a -PB a R -1 B a T The equation with P=0 is the Ricardi equation;

[0046] The calculation process of K: First, the state cost weighting matrix Q is determined using the Bryson method. a and control cost weighted matrix R, Q a Let P be a positive semi-definite matrix, and R be a positive definite matrix; then, solve the Riccati equation to obtain matrix P; finally, calculate K = R. -1 B a T P.

[0047] Based on the design and construction plan of the line to be constructed, the actual construction plan of the historical construction line, and the current construction safety specifications and standards, a knowledge graph of the mobile umbrella-shaped crossing frame and construction operation scenarios is constructed.

[0048] The knowledge graph is constructed using construction organization requirements, construction process specifications, construction organization structure, and resource allocation as the main clues.

[0049] Knowledge updates involve updating and storing newly generated or modified construction planning schemes based on the mobile umbrella-shaped bridging construction planning and simulation model. New construction schemes must be added to the existing knowledge graph only after knowledge fusion. At the same time, it should be considered whether the same entities or relationships already exist in the existing knowledge graph for newly added entities or relationships. If they do, they should be deduplicated. After the knowledge update, there should be no invalid entities or relationships. If they do, they should be removed.

[0050] For revisions to construction safety regulations and standards, the knowledge graph is updated and stored. For data where relevant provisions in the new construction safety regulations and standards contradict past provisions, the knowledge graph generates a comparison list, which is then determined manually.

[0051] Based on digital twin models and knowledge graphs, a construction plan for a mobile umbrella-shaped crossing frame is constructed, and construction simulation is performed in the digital twin model to obtain a construction plan scheme: relevant information parameters in the digital twin model of the construction operation scenario are input into the knowledge graph. The knowledge graph generates an initial construction plan based on the construction points of the construction plan of the line to be constructed. In the generation process, it is necessary to consider the actual construction plans of similar construction points in historical construction lines as well as the current construction safety specifications and standards.

[0052] The initial construction plan generated by the knowledge graph is adjusted based on the actual situation. The knowledge graph then modifies the number of related entities or parameters based on the adjustments to the construction plan, thereby improving the construction plan.

[0053] The improved construction plan is input into the digital twin model. The digital twin model calls up the crossing frame, construction equipment, and construction materials in the construction plan and arranges them in the construction scene digital twin model. The crossing frame, construction equipment, and construction materials are arranged and adjusted manually, and then the construction simulation of the crossing frame begins. If the simulation is successful, the construction plan is obtained. If the simulation fails, the reasons for the failure are analyzed, the parameters are adjusted, and the simulation is repeated.

[0054] In the construction simulation:

[0055] Safety verification calculations were performed on the post-construction plan to confirm that the load-bearing capacity of the construction met the construction standard requirements.

[0056] Based on a high-precision 3D model of the mobile crossing frame operation scenario, the simulation function enables dynamic simulation of the construction scheme of the mobile crossing frame for power transmission and transformation lines. According to the construction sequence, the simulation dynamically simulates the construction content of each stage in a time sequence. During the simulation, parameters such as the crossing frame deployment angle, crane working range, boom length, and angle are collected by sensors to verify the safety of the crossing frame and crane at the crossing point during construction. At the same time, the safe distance between the crane and live parts, and the safe distance between the capping net and live wires and ground wires are calculated. If the distance is not within the safe distance, an alarm is immediately triggered and the machine is stopped. After manual adjustment, the simulation is repeated.

[0057] The construction planning and construction simulation are both carried out in the digital twin model. The digital twin model presents the digital twin scene of construction with planning in a background display manner. The generation results and modifications of the construction planning are displayed in the form of a table of contents. The construction simulation is displayed in the digital twin scene in a proportional manner, with the digital twin crossing frame, the construction equipment and materials supporting the crossing frame restored.

[0058] Secondly, the present invention provides a mobile umbrella-shaped crossing frame parallel control system, the system being used to execute the aforementioned mobile umbrella-shaped crossing frame parallel control method, specifically including: a digital twin, a parallel control model construction module, a knowledge graph construction module, a construction planning and deduction model construction module, and a parallel control implementation module;

[0059] Digital twin and parallel control model construction module: used to build a digital twin model of the construction scenario based on the real construction scenario, build digital twin models of each mobile crossing frame based on different crossing frame models, and build a parallel control model connecting the digital twin model of the mobile crossing frame with the actual construction mobile crossing frame system;

[0060] Knowledge graph construction module: used to build a knowledge graph of the mobile umbrella-shaped crossing frame and construction operation scenario based on the design and construction plan of the line to be constructed, the actual construction plan of the historical construction line, and the current construction safety specifications and standards;

[0061] Construction planning and simulation model building module: used to build a construction plan for a mobile umbrella-shaped scaffolding based on a digital twin model and knowledge graph, and to perform construction simulation in the digital twin model to obtain a construction plan scheme;

[0062] Parallel Control Implementation Module: This module is used for parallel control of on-site construction based on the parallel control model of the digital twin model of the mobile crossing frame and the actual construction mobile crossing frame system, with the construction planning scheme as the objective.

[0063] Thirdly, the present invention provides a mobile umbrella-shaped bridging parallel control device, including a memory and a processor, wherein the memory is used to store computer program code and transmit the computer program code to the processor;

[0064] The processor is configured to execute the aforementioned mobile umbrella-shaped gantry parallel control method according to instructions in the computer program code.

[0065] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that is executed by a processor of the aforementioned mobile umbrella-shaped gantry parallel control method.

[0066] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0067] 1. This invention discloses a parallel control method for a mobile umbrella-shaped bridging system. When establishing the system, it allows human physical activities and habitual thinking to govern the system's actions, truly integrating "human" elements into the engineering system and management process by utilizing various information technologies. It highlights the theoretical advantages of parallel systems in computational experimentation, constructing a correlation analysis of mobile bridging system construction schemes based on high-precision three-dimensional digital models and knowledge graph technology. This forms a knowledge base and standardized adaptation principles, aiding decision-making in the selection of construction processes and methods, and forming a mechanized construction planning and deduction system. This method not only provides detailed operational guidance for on-site construction but is also an important technical component of the digital system. In the construction planning stage, knowledge graphs and standardized adaptation principles are used to plan the entire construction process. Simultaneously, based on parallel systems, digital twins, and other technical frameworks, the deduction technology for mobile bridging system construction schemes is studied. The construction scenario for the mobile bridging system is generated within the artificial system, and the scheme is optimized through multiple trial-and-error experiments, achieving full-process information interaction, real-time feedback at all stages, and full-cycle optimized control. Through digital planning and simulation, safety risks can be avoided in advance during construction, and preventive and parallel control measures can be taken to ensure that the construction plan is implemented reasonably on site and to guide subsequent construction in an orderly manner.

[0068] 2. In the parallel control method of the mobile umbrella-shaped crossing frame of the present invention, the construction plan of the crossing frame is generated autonomously by reasonable sensor layout and data acquisition of the crossing frame, intelligent planning of the crossing frame construction scenario and construction simulation based on physical laws. The optimal solution is selected according to the trial and error experiment idea and the corresponding parallel control instructions are given, which reduces the danger of the construction process and improves the intelligence and digitalization of the construction equipment of the overhead line project. (1) The implementation of the calculation experiment function in the parallel control system of the crossing frame can realize the generation of the construction planning scheme of the entire process of the crossing frame operation according to the existing conditions and the requirements of the specifications. Through multi-objective optimization algorithm, multi-dimensional calculation and comparison are performed to improve decision-making efficiency and provide the best solution for construction simulation. (2) The construction simulation generates detailed construction steps in the manual system according to the construction planning content. At the same time, the planning simulation is used as the basis for parallel control calculation, and the simulation result can be used as the target value of parallel control. (3) Parallel control can realize the simultaneous processing of multiple tasks, thereby accelerating the problem-solving and decision-making. (4) The parallel control system of the crossing frame provides a visual representation of the real-time equipment operation status and surrounding environment of the crossing frame, and provides operation instructions for the autonomous optimal control of crossing construction.

[0069] 3. The present invention provides a parallel control system for a mobile umbrella-shaped bridging system, comprising: a digital twin and parallel control model construction module: used to construct a digital twin model of the construction scenario based on the actual construction scenario, construct digital twin models of each mobile bridging system based on different bridging system models, and construct a parallel control model connecting the digital twin models of the mobile bridging systems with the actual mobile bridging system under construction; a knowledge graph construction module: used to construct a knowledge graph of the mobile umbrella-shaped bridging system and the construction operation scenario based on the design and construction plan of the line to be constructed, the actual construction plans of historical construction lines, and current construction safety specifications and standards; a construction planning and deduction model construction module: used to construct a construction plan for the mobile umbrella-shaped bridging system based on the digital twin model and the knowledge graph, and to perform construction deduction in the digital twin model to obtain the construction plan scheme; and a parallel control implementation module: used to perform parallel control of on-site construction based on the parallel control model connecting the digital twin model of the mobile bridging system and the actual mobile bridging system under construction, with the construction plan scheme as the target. This system is used to implement the steps of the mobile umbrella-shaped bridging system parallel control method provided in any of the above technical solutions. Therefore, this system includes all the beneficial effects of the parallel control method based on the mobile umbrella-shaped crossing frame provided in any of the above technical solutions, which will not be repeated here.

[0070] 4. The present invention provides a mobile umbrella-shaped scaffold parallel control device, comprising a processor and a memory. The memory stores computer program code and transmits the computer program code to the processor. The processor executes the mobile umbrella-shaped scaffold parallel control method provided in any of the above-described technical solutions according to the instructions in the computer program code. Therefore, this device simultaneously includes all the beneficial effects of the mobile umbrella-shaped scaffold parallel control method provided in any of the above-described technical solutions, which will not be elaborated further here.

[0071] 5. The present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the parallel control method for the mobile umbrella-shaped crossing frame provided in any of the above-described technical solutions. Therefore, this computer program product simultaneously includes all the beneficial effects of the parallel control method for the mobile umbrella-shaped crossing frame provided in any of the above-described technical solutions, which will not be elaborated further here. Attached Figure Description

[0072] Figure 1 This is a flowchart of the method of the present invention.

[0073] Figure 2 This is a system module diagram of the present invention.

[0074] Figure 3 This is a schematic diagram of the device of the present invention.

[0075] Figure 4This is the implementation roadmap for the parallel control model of the mobile gantry in Example 1.

[0076] Figure 5 This is the design and construction drawing in Example 1.

[0077] Figure 6 This is a schematic diagram illustrating the adjustment of the construction plan in Example 1.

[0078] Figure 7 This is a schematic diagram of the simulation of the bridging structure in Example 1.

[0079] Figure 8 This is a schematic diagram of the safety distance calculation for the construction of the crossing frame in Example 1. Detailed Implementation

[0080] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0081] Example 1:

[0082] See Figure 1 , Figure 4-8 A method for parallel control of a mobile umbrella-shaped crossing frame includes the following steps:

[0083] Construct a digital twin model of the mobile umbrella-shaped crossing frame and the construction operation scenario, and connect the digital twin model of the mobile crossing frame with the parallel control model of the actual mobile crossing frame system under construction.

[0084] A digital twin model of the construction scene is constructed based on the real construction scenario. The relevant parameter information of the line to be constructed is imported into the model, including the distribution coordinate information of each tower, tower model, tower number and the layout and installation design information of the transmission line. At the same time, the domestic road network information based on the map is synchronized proportionally on the bottom layer of the model, so that the coordinates of the digital twin scene correspond one-to-one with the coordinates of the map, thus obtaining the digital twin model of the construction scene.

[0085] Based on the different existing bridging models, digital twin models of mobile bridging frames were constructed. Three-dimensional geometric models were obtained through parametric design. The physical, behavioral, and rule models of each subsystem were defined according to the actual operation mode of the mobile bridging frames, forming a high-fidelity mapping of the physical entities.

[0086] Then, digital twin models were constructed for the construction equipment and materials that are used with the crossing frame.

[0087] The constructed digital twin models of the mobile crossing frame and the construction equipment and materials can all be deployed into the construction scene digital twin model according to the construction plan;

[0088] A parallel control model is constructed that connects the digital twin model of the mobile crossing frame with the actual mobile crossing frame system under construction. This enables the control signals of the digital twin model to synchronously control the actual mobile crossing frame system under construction. At the same time, the actual mobile crossing frame system feeds back the received sensor signals from the mobile crossing frame to the digital twin model of the mobile crossing frame to assist in the feedback adjustment of the parallel control model.

[0089] The method for constructing a parallel control model is as follows:

[0090] The parallel control problem of the gantry is essentially a target tracking problem involving the velocity and pose of the target on the gantry. Discretizing the time of the target tracking problem, for a certain moment, the desired state of the target at time t+1 is:

[0091] x d [t+1]=A d x d [t]

[0092] Where A d Let x be the target transition matrix. d [t] represents the desired state of crossing the frame at time t, x d [t+1] represents the desired state of the crossing frame at time t+1;

[0093] Construct the state equation for the gantry: x[t+1]=Ax[t]+Bu[t];

[0094] Where x[t+1] is the target state of the bridging frame at time t+1, A is the state matrix of the bridging frame, B is the input control matrix of the bridging frame, and u[t] is the input control vector of the bridging frame system at time t;

[0095] Since the velocity and pose of the passive target on the bridging frame are both constant vectors, A d =I; Define error:

[0096] e[t]=x[t]-x d [t];

[0097] Where e[t] is the control error of the crossing frame at time t;

[0098] At this point, the target tracking problem is transformed into a class of error adjustment problems; integrating the above equations:

[0099]

[0100] At this point, we obtain the augmented form of the space state equation:

[0101] x a [t+1]=A a x a [t]+Ba u[t]

[0102] Where x a [t+1] is the state vector of the crossing frame at time t+1 after the merger, A a Let x be the state matrix of the merged gantry. a [t] represents the state vector of the crossing frame at time t after the merger, B a Given the input control matrix of the merged strut; then:

[0103]

[0104] Among them, C a [II];

[0105] Based on parallel control theory, the cost function J can be constructed:

[0106]

[0107] Where S is a symmetric positive definite matrix, usually used to weigh the importance of the state error e[t] at time t, Q is the state cost weighting matrix, R is the control cost weighting matrix, and N represents the previous N time steps;

[0108] This cost function is constructed as the cost function in the tracking problem: e[t] represents the error between the current state and the expected state at the current moment. T Qe[t] represents the cost or energy required to reduce the accumulated error from the past; u[t] T Ru[t] represents the energy required for the system to reach the next state at that moment;

[0109] Substituting e[t] into J, we get:

[0110]

[0111] Let S a =C a T SC a Q a =C a T QC a The cost function is:

[0112]

[0113] At this point, the cost function and the augmented state space equation conform to the linear quadratic canonical form; through the above process, a class of error tracking problems has been successfully transformed into a class of regulation problems;

[0114] The goal of a linear quadratic controller is to design a controller that uses state feedback u[t] = -Kx a Using [t] to minimize the cost function, we obtain:

[0115]

[0116] Suppose a constant matrix P satisfies:

[0117]

[0118] Let K = R -1 B a T P, we can obtain A a T P+PA a +Q a -PB a R -1 B a T The equation with P=0 is the Ricardi equation;

[0119] The calculation process of K: First, the state cost weighting matrix Q is determined using the Bryson method. a and control cost weighted matrix R, Q a Let P be a positive semi-definite matrix, and R be a positive definite matrix; then, solve the Riccati equation to obtain matrix P; finally, calculate K = R. -1 B a T P.

[0120] Constructing a knowledge graph of mobile umbrella-shaped crossing structures and construction operation scenarios; including:

[0121] Based on the design and construction plan of the line to be constructed, the actual construction plan of the historical construction lines, and the current construction safety specifications and standards ("Safety Work Regulations for Power Construction", "Standard Process for Transmission and Transformation Engineering of State Grid Corporation", "Q / GDW11957.2—2020 Safety Work Regulations for Power Construction of State Grid Corporation", "DL / T5106—2017 Construction Regulations for Crossing Power Lines"), a knowledge graph of mobile umbrella-shaped crossing frame and construction operation scenarios is constructed.

[0122] The knowledge graph is constructed using construction organization requirements, construction process specifications, construction organization structure, and resource allocation as the main clues.

[0123] Knowledge updates involve updating and storing newly generated or modified construction planning schemes based on the mobile umbrella-shaped bridging construction planning and simulation model. New construction schemes must be added to the existing knowledge graph only after knowledge fusion. At the same time, it should be considered whether the same entities or relationships already exist in the existing knowledge graph for newly added entities or relationships. If they do, they should be deduplicated. After the knowledge update, there should be no invalid entities or relationships. If they do, they should be removed.

[0124] For revisions to construction safety regulations and standards, the knowledge graph is updated and stored. For data where relevant provisions in the new construction safety regulations and standards contradict past provisions, the knowledge graph generates a comparison list, which is then determined manually.

[0125] Based on digital twin models and knowledge graphs, a construction plan for a mobile umbrella-shaped crossing frame is constructed, and construction simulation is performed in the digital twin model to obtain a construction plan scheme.

[0126] The construction planning and construction simulation are both carried out in the digital twin model. The digital twin model displays the digital twin scene of construction with planning in a background display manner. The generation results and modifications of the construction planning are displayed in the form of a table of contents. The construction simulation is displayed in the digital twin scene in a proportional manner, with the digital twin crossing frame, the construction equipment and materials supporting the crossing frame restored.

[0127] The relevant information parameters in the digital twin model of the construction operation scenario are input into the knowledge graph. The knowledge graph generates an initial construction plan based on the construction points of the construction scheme of the line to be constructed. In the generation process, it is necessary to consider the actual construction schemes of similar construction points in the historical construction lines as well as the current construction safety specifications and standards.

[0128] The initial construction plan generated by the knowledge graph is adjusted based on the actual situation. The knowledge graph then modifies the number of related entities or parameters based on the adjustments to the construction plan, thereby improving the construction plan.

[0129] The improved construction plan is input into the digital twin model. The digital twin model calls up the crossing frame, construction equipment, and construction materials in the construction plan and arranges them in the construction scene digital twin model. The crossing frame, construction equipment, and construction materials are arranged and adjusted manually, and then the construction simulation of the crossing frame begins. If the simulation is successful, the construction plan is obtained. If the simulation fails, the reasons for the failure are analyzed, the parameters are adjusted, and the simulation is repeated.

[0130] Safety verification calculations were performed on the post-construction plan to confirm that the load-bearing capacity of the construction met the construction standard requirements.

[0131] Based on a high-precision 3D model of the mobile crossing frame operation scenario, the simulation function enables dynamic simulation of the construction scheme of the mobile crossing frame for power transmission and transformation lines. According to the construction sequence, the simulation dynamically simulates the construction content of each stage in a time sequence. During the simulation, parameters such as the crossing frame deployment angle, crane working range, boom length, and angle are collected by sensors to verify the safety of the crossing frame and crane at the crossing point during construction. At the same time, the safe distance between the crane and live parts, and the safe distance between the capping net and live wires and ground wires are calculated. If the distance is not within the safe distance, an alarm is immediately triggered and the machine is stopped. After manual adjustment, the simulation is repeated.

[0132] Parallel control of on-site construction is carried out based on the parallel control model of the digital twin model of the mobile crossing frame and the actual construction mobile crossing frame system, with the construction planning scheme as the target.

[0133] S1's current modeling of mobile gantry application scenarios primarily involves a comprehensive decomposition of all elements, including "human-machine-material-environment." A virtual model is constructed based on real-world mobile gantry construction scenarios, mainly comprising: geometric, physical, behavioral, and rule-based models. For the geometric dimension, a geometric model of the equipment is built based on information such as the gantry's geometric characteristic parameters, including the gantry body, transport frame, and netting device. For the physical dimension, a physical model is built based on the material properties and physical parameters of the mobile gantry equipment, such as the motor power and lifting range of the gantry. For the behavioral dimension, a behavioral and response model is constructed based on the behavioral coupling relationships between various components, depicting the equipment's behavioral characteristics, such as the crane docking with the gantry and the crane boom raising the gantry to the working height. For the rule-based dimension, a rule and logic model is built based on XML language to describe the equipment's operation and evolution, such as adjusting the gantry's tilt angle to ensure the crane boom achieves optimal protection area and impact resistance under different working conditions.

[0134] Description of the knowledge graph construction for the S2 mobile umbrella-shaped crossing frame;

[0135] The application scenario of mobile crossing frames in power transmission line crossing operations is mainly based on four stages: construction organization requirements, construction process specifications, construction organization structure, and resource allocation, as shown in the figure. This paper analyzes the entity concepts and attributes of concern in each stage to construct a knowledge graph model layer for mobile crossing frame construction. Corresponding entities and attributes are extracted from standards such as the mobile crossing frame operation construction plan, the "Safety Work Regulations for Power Construction," the "Standard Process for Transmission and Transformation Engineering of State Grid Corporation of China," "Q / GDW 11957.2—2020 Safety Work Regulations for Power Construction of State Grid Corporation of China," and "DL / T5106—2017 Construction Regulations for Crossing Power Lines," thereby realizing the construction of the knowledge graph.

[0136] The knowledge graph for mobile straddle-and-grid applications can be represented by G = (E, R, S), where E is the set of entities in the knowledge base, R is the set of relations, and S is the set of "node-relation-node" triples. Data layer construction involves extracting the required entities and relations under the guidance of the schema layer's organizational framework. Key technologies for data layer construction include entity extraction, knowledge fusion, and knowledge updating.

[0137] (1) Entity Extraction: In the knowledge graph of the mobile straddle-type scenario, each entity corresponds to one node, and the node has a label and properties:

[0138] Entity=Node:Name{Property1,Property2,···}

[0139] In the formula: Name represents the entity name, Property1, and Property2 represents multiple attributes of the entity, used to distinguish entities of different types, levels, and stages. Taking machinery and personnel entities as examples, knowledge extraction is performed based on deep learning methods.

[0140] The entity concepts "mechanical equipment" and "personnel" are both noun phrases with regularity, and can be extracted using named entity recognition. This paper employs a named entity recognition method based on the BERT model (a bidirectional encoder representation of the transformer) to extract entities from text. First, annotated text corpora are used to form a training set for training the deep learning model. The annotation pattern used is BIO, where B represents the beginning of an entity, I represents the middle part, and O represents a non-entity part. A portion of the text is selected, and after long sentence segmentation, 1379 sentences are manually annotated, with the training and validation sets divided in a 9:1 ratio. The trained model can extract entities of the "mechanical equipment" and "personnel" classes from text.

[0141] (2) Knowledge Fusion: Knowledge fusion represents multiple entities with the same meaning using a single entity, i.e., A1 = {a1, a2, ..., am}, where a1 to am represent m entities with the same meaning, and A1 is the fused entity. In this invention, knowledge fusion is required in the following two situations: ① Mixed use of full and abbreviation names. Some mechanical equipment requires simplification due to excessively long names, such as "mobile umbrella-shaped crossing frame" and "crossing frame," which should be the same entity. ② Diversity of text representation, referring to misidentification as multiple entities due to word differences. For example, "lifting machinery" and "crane" should be the same entity. It is difficult to formulate complete knowledge fusion rules for such situations; therefore, a text clustering algorithm is used for knowledge fusion, i.e., traversing each entity, calculating the text similarity between that entity and the other entities, and merging entities with similarity higher than a threshold. The formula for calculating entity semantic similarity S is:

[0142]

[0143] In the formula: A1 and B1 are the word frequency vectors obtained after word segmentation of two entity names; n is the number of words. The higher the semantic similarity S1, the higher the similarity between the two entities.

[0144] (3) Knowledge Updates: Currently, the scenarios for mobile crossing scaffolds are constantly changing. Therefore, the knowledge graph needs continuous updates to ensure its effectiveness and provide a reference for decision-making during construction planning. The form of the construction plan is relatively fixed, mainly consisting of project overview, crossing plan, crossing construction organization, construction technology measures, safety assurance measures, emergency plans, civilized construction and environmental protection measures. Therefore, the model layer is relatively fixed. When adding or improving the current plan in the future, new plan knowledge will be added, so the data layer of the knowledge graph needs to be updated. New construction plans must be added to the original knowledge graph after knowledge fusion. At the same time, it should be considered whether the same entity or relationship already exists in the existing graph for the new entity or relationship. If so, deduplication should be performed. After the knowledge update, are there any invalid entities or relationships? If so, they should be removed.

[0145] S3 Mobile Umbrella-Shaped Crossing Frame Construction Digital Planning and Simulation Description;

[0146] Construction planning: Based on the preliminary survey and analysis of the construction site and environment, the main and special aspects affecting the project are identified. Combined with the knowledge graph constructed based on the mobile gantry operation scenario and the standardized adaptation principle, relevant entity attribute information is extracted from the existing knowledge graph according to the on-site operation requirements to determine the construction methods and processes. Finally, the human resource allocation is calculated based on the operation content to generate a planning scheme.

[0147] In this patented system, the planning process can be automated and manually adjusted. The main planning steps include: selection of construction methods, allocation of construction resources (machinery, personnel, tools, planned time, risk and safety measures, etc.), planning of equipment entry routes, and layout of the work site.

[0148] Regarding construction method selection, the system will provide suggested construction methods based on the design data of the current location using a conditional value comparison approach. However, manual modifications are allowed, and corresponding information prompts will be displayed for construction methods that do not meet the conditions. After selecting a construction method, the system proceeds to construction resource configuration. In this step, the system will extract the construction resource configuration, including machinery, personnel, and corresponding risk and safety measures, from the established knowledge graph for the corresponding construction method. Specifically, the system searches for the corresponding construction method entity in the knowledge graph, extracts and records all relationships of that entity, and arranges the results according to fields, displaying them in different system interfaces. Similarly, this step also allows for manual adjustments by on-site personnel.

[0149] See Figure 6 In route planning, the system will automatically plan the most reasonable route based on the domestic road network information that has been connected. It will also mark the length of roads that need to be expanded or rebuilt, and will automatically mark the bottlenecks that affect the passage of equipment along the route.

[0150] During construction site layout, the system will set up the construction site in an initial quadrilateral shape according to the actual ground conditions. The layout of the construction areas can also be generated with one click, or the layout can be completed manually through drag-and-drop interface operations. After the construction site is determined, the system will also calculate the corresponding compensation amount for crops based on the quota as part of the construction budget.

[0151] (i) Project Overview

[0152] The 220kV long-line #127-#137 (existing #132-#143) line renovation project has a total length of 3.616km, starting from the existing 220kV long-line #132 and ending at the 220kV Jiazhuang substation. A total of 18 new towers will be constructed, all single-circuit steel pipe poles, including 13 tension steel pipe poles and 5 straight steel pipe poles. The line conductors for this project are 2×JL / G1A-400 / 35 type steel-cored aluminum stranded wires, with twin conductors arranged horizontally. The existing #132-AN1 conductor and ground wire will be reused and re-stretched. The ground wire of the newly constructed 220kV line will use two 72-core OPGW-150 optical cables throughout.

[0153] (ii) Construction content

[0154] The construction work for crossing a 10kV six-line 101HW (cable terminal pole #27-2701) live conductor and a 10kV body line 102HW (#24~#25) live conductor includes:

[0155] Erect the crossing frame near the AN3 tower. After the crane is in place (the crane's rotation center is the ground projection point 10m away from the intersection of the 10kV six-line 101HW live line and the 220kV line in the vertical direction to the outside of the 10kV line), rotate the boom to a position away from the live body to install the crossing frame, and then lift and park the crossing frame in place.

[0156] After the crane is positioned and parked in place, the crane's rotation center is located 10m from the ground projection point 10m away from the intersection of the 10kV six-line 101HW live line and the 220kV line. The boom is then rotated to a position away from the live body to install the crossing frame. The crossing frame is then lifted and parked in place.

[0157] Erect the crossing frame near the AN4 tower. After the crane is in place (the crane's rotation center is the ground projection point 11m away from the intersection of the 10kV main line 102HW energized line and the 220kV line), rotate the boom to a position away from the energized body to install the crossing frame, and then lift and place the crossing frame in place.

[0158] (iii) Crossing point parameters and sections

[0159] Taking 12-28 (3#-4#) 10kV power lines crossing live conductors as an example, the crossing point information is as follows:

[0160] Table 2 Crossing Point Parameters

[0161]

[0162] (iv) Equipment selection

[0163] Based on the characteristics and crossing parameters of this project, the TOPSIS method is used to solve a multi-objective decision problem among equipment performance parameters. Then, relevant knowledge is extracted from the knowledge graph according to the standardization and adaptation principle to complete equipment selection and on-site resource allocation. For example, for mobile crossing frames and cranes used in crossing operations, 8-12T cranes are generally equipped to be installed in conjunction with the crane. The actual number of equipment and reasonable resource allocation are calculated based on the crossing construction content.

[0164] The selection of mobile umbrella-type crossing frames mainly involves two aspects: 1) Selecting the model based on the load of the laid-out line and the parameter table of the mobile crossing frame, such as the line section and the span distance; 2) Determining the quantity based on the scope of the object being crossed and the operational requirements, such as the intersection angle between the new line and the object being crossed, the crossing length, the crossing width, and the distance to the ground. Therefore, the mobile umbrella-type crossing frame model SKY-SY-8×12 / 50-D is sufficient to meet the operational requirements for this project.

[0165] Table 3 SKY-SY-8×12 / 50-D Crossover Frame Parameter Table

[0166]

[0167] The selection of a crane mainly considers the following three points: 1) Operating load: the self-weight of the mobile gantry crane, and the possible load under accident conditions, such as the self-weight, length, span length, conductor weight, and number of conductor splits of the gantry crane; 2) Boom working radius: determined based on the crane parking point and the actual crossing point; 3) Crane selection: selecting a suitable crane by referring to a table based on the operating load and boom working radius. The calculation method is as follows:

[0168] a. The mobile umbrella-shaped crossing frame has a self-weight of 4T. The impact load is based on the concentrated load of the wire at the end of the sealing device in DL / T5301-2013, which is the weight of the conductor at a span of 3 / 8. The span of this operation is 171 meters.

[0169] Impact load W JS = [3 / 8 × (171-12) + 12] × 13.486 / 1000 × 2 × 1.67 × 1.2 = 3.87 kN, the bridging frame bears a vertical load of 3.87 kN;

[0170] Horizontal load P S =0.3W JS = 1.161kN;

[0171] The load on the sealing platform is F = 0.2W. JS =0.774kN;

[0172] Operating state wind load P W =CpA=1.7×0.625×15 2 ×11.9 / 1000=2.8kN;

[0173] The lifting capacity G of the crane at the crossing point must be greater than );

[0174] b. During construction near AN3 tower, the boom working radius is 9 meters, the boom length is 20 meters, and the boom angle is 59°.

[0175] The working radius of the boom on the construction side is 11 meters, the boom length is 21 meters, and the boom angle is 55°.

[0176] During construction near AN4 tower, the boom working radius is 10 meters, the boom length is 23 meters, and the boom angle is 59°.

[0177] The working radius of the boom on the construction side is 12 meters, the boom length is 24.5 meters, and the boom angle is 55°.

[0178] c. Select two STC500E series cranes to install the spanning frame.

[0179] Appropriate human resources should be organized for projects crossing power lines. Due to the special nature of construction work across power lines, the entire construction process needs to be monitored. Each construction site should have designated personnel to oversee the work, along with sufficient support staff, to ensure safety monitoring and quality control during construction.

[0180] Table 4 Personnel Arrangement Table

[0181]

[0182] (1) Construction simulation

[0183] See Figure 7 , 8 Based on a high-precision 3D model of the mobile gantry crane's operational scenario, the system automatically generates path planning and construction site layout according to the construction plan, including the gantry crane's position, opening angle, and boom height within the scenario. It then uses real-time data from the site layout, construction procedures, and sensor sensors such as wind speed and height sensors to calculate and extrapolate safe distances during gantry crane operations.

[0184] The safe distance guidelines are shown in the table below:

[0185] Table 5 Safety Distances at Different Voltage Levels

[0186]

[0187] Table 6 Minimum safe distance (m) between the crossing frame and the object being crossed

[0188]

[0189] Construction Site Layout: Through interactive operations, users can edit and arrange various construction elements in the scene, such as access roads and scaffolding locations. Different tools can be used to adjust the position, orientation, and size of these elements. Furthermore, parameters of these elements can be customized, such as the length and lifting angle of the crane boom.

[0190] Construction sequence: Establish the preceding and succeeding relationships between construction sequence nodes through time sequence. Adjust basic parameters such as the number of construction workers, construction machinery, and construction period of each sequence node, establish the connection between the node and the data and construction layout data in the virtual scene, and associate the sequence with the scene.

[0191] Simulation and Deduction: The simulation function enables dynamic simulation of the construction scheme for mobile crossing frames of power transmission and transformation lines. Following the established construction sequence, it dynamically simulates the construction content at each stage in a time-series manner. During the simulation, parameters such as the crossing frame deployment angle, crane working radius, boom length, and angle are collected by sensors to verify the safety of the crossing frame and crane operating at the crossing point. Simultaneously, it calculates the safe distance between the crane and live conductors, and the safe distance between the capping mesh and live power lines and ground wires. If the distance is outside the safe range, an alarm is immediately triggered and the system shuts down.

[0192] ① Safety verification of mobile crossing frame and crane during crossing point operations:

[0193] 1) Basic parameters: A mobile umbrella-shaped crossing frame for a 220kV long line (AN3~AN4 towers) crossing a 10kV six-line 101HW (27#-2701 cable terminal pole) and a 10kV body line 102HW (#24~#25). The maximum radius of the STC500E crane is 12m, the boom length is 24.5m, and the angle is 55°. At this time, the lifting capacity of the crane boom is greater than 13T, which can ensure the stability under impact. The SKY-SY-8×12 / 50-D crossing frame has a rated load capacity of 5T, and the frame is safe to use when subjected to impact.

[0194] 2) Stability Analysis: The load on the crane and the crossing frame during the erection of the 220kV long line (AN3~AN4 towers) crossing the 10kV six-line 101HW (27#-2701 cable terminal pole) and the 10kV body line 102HW (#24~#25) is as follows:

[0195] The weight of the gantry is G1 = 40 kN.

[0196] Impact load under accident conditions: Vertical load on main truss: WJS = 3.87 kN;

[0197] Horizontal load on main truss: PS = 0.3 × 8.55 = 1.161 kN;

[0198] Vertical load on the safety net truss: F = 0.2 × 8.55 = 0.774 kN;

[0199] Input data:

[0200] During construction, the working radius of the tower crane close to AN3 is 9 meters, the boom length is 20 meters, and the angle is 59°. At this time, the lifting capacity of the crane G≥7T.

[0201] The working radius of the construction side crane is 11 meters, the boom length is 21 meters, and the angle is 55°. At this time, the lifting capacity G of the crane is ≥6.8T.

[0202] During construction, the working radius of the tower crane close to AN4 is 10 meters, the boom length is 23 meters, and the angle is 59°. At this time, the lifting capacity of the crane G≥6.9T;

[0203] The working radius of the construction side crane is 12 meters, the boom length is 24.5 meters, and the angle is 55°. At this time, the lifting capacity of the crane G≥6.8T;

[0204] The selected crane has a lifting capacity of more than 13 tons at this time, making it safe to use.

[0205] ②Safe distance verification:

[0206] 1) Safety Distance Specifications: According to section 7.2 of "Q / GDW 11957.2—2020 State Grid Corporation of China Power Construction Safety Work Regulations Part 2: Lines", the horizontal safety distance between cranes and lifting components and 10kV live conductors is 1.5m, and the horizontal safety distance between cranes and lifting components and 110kV live conductors is 4m. According to section 3.2.7 of "DL / T5106—2017 Construction Regulations for Crossing Power Lines", the safety distance between the capping net and the 10kV line is 1.5m, and the safety distance between the capping net and the 110kV ground wire is 1m.

[0207] Therefore, the safe distance between the 10kV live parts of the crane boom and the ground wire / optical cable must be no less than 4.5m in the horizontal direction, the safe distance between the 110kV live parts and the ground wire / optical cable must be no less than 2m.

[0208] 2) Safety Distance Calculation: During the placement of the crossing frame, the live line is projected onto the ground, and a triangular flag-like soft barrier is placed at the projection point. A Φ6 Dyneema rope is tied 10m from the first section of the crane boom, with a weight attached to the lower end of the rope. Based on the crane boom angle α, the vertical and horizontal safety distances between the boom and the 10kV line (4.5m), and between the boom and the 110kV line (6.5m), the vertical and horizontal distance L1 between the crane's rotation center and the live line, and the height H of the conductor on the live line from the ground, the vertical distance L between the weight and the triangular flag-like soft barrier is ensured to be greater than or equal to the safety distance. This prevents the crane from accidentally entering the live area during its rotation to the working position. When crossing a live line, the β angle should ideally be perpendicular to the line being crossed when the boom rotates to the working position. At this point, the boom's working amplitude is minimized while maintaining a safe distance, and when the crane is positioned as designed, the boom will not accidentally enter the live area during the entire rotation process.

[0209] In summary, taking the construction scenario of a mobile crossing frame for power transmission lines as an example, this study uses a digital twin scenario as a foundation and plans the operation within a manual system. Data collected by sensors is used to calculate and extrapolate safe distances in real time during the operation. This extrapolation, as a method of parallel system calculation, provides construction personnel with the optimal control scheme to support precise decision-making. Simultaneously, the results of the planning and extrapolation serve as the optimal control target state to be achieved by the parallel control system.

[0210] The actual motion control of equipment is achieved through modern control theory, that is, parallel control of the equipment. Taking the motion control of a bridging frame as an example, parallel control calculations are performed. The overall operation process of the bridging frame can be abstracted and summarized as follows: First, the crane reaches the designated position, then the outriggers extend, the boom is raised and rotated to the designated angle, and the bridging frame umbrella is fully opened. According to the spatial position of the conductor, the boom rotates back to the working position, and then the pitch angle of the bridging frame is adjusted to make it horizontal, completing the bridging frame opening task. When the line stringing work is completed, the bridging frame is retracted in the reverse direction according to the same actions. For the specific action of boom raising and lowering, when calculating according to modern control, the first step is to construct the state equation for the boom. The constant matrix in this equation represents the various dimensional information of the boom, that is, the motion transmission relationship between different motion variables. The second step is to propose the cost function of parallel control for error adjustment problem, and use the Bryson method to calculate the state cost weighting matrix Q and the control cost weighting matrix R. Finally, a linear quadratic controller is used to solve the state equation based on minimizing the cost function, and the optimal response of the control signal to the target is obtained.

[0211] Optimal control tasks can be divided into two categories according to their objectives: state regulation problems and trajectory tracking problems. The main difference lies in the objective function.

[0212] The state conditioning problem refers to the problem of bringing a system to a desired state by controlling the input, given an initial state. Typically, the objective function of the state conditioning problem is to minimize the error between the system state and the desired state. This error is the cost function J, and minimizing J brings the system to the desired state.

[0213] The tracking problem refers to the problem of making the system state follow a desired trajectory given a specific path by controlling the input. Typically, the objective function of the tracking problem is to minimize the error between the system state and the desired trajectory. The goal of the tracking problem is to minimize the cost function so that the system state follows the desired trajectory.

[0214] Therefore, the main difference between the state conditioning problem and the tracking problem lies in the desired state. In the state conditioning problem, the desired state is a fixed state, and the goal of the control input is to make the system state converge to the desired state. In the tracking problem, the desired trajectory is a time function, and the goal of the control input is to make the system state follow the desired trajectory.

[0215] Taking the control of the traverse frame's parachute arm as an example, this problem is a tracking problem, meaning that the goal is to minimize the error between the traverse frame's state at any given time and the desired trajectory. However, the tracking problem consumes a considerable amount of computational resources. Therefore, the tracking problem can be discretized in time, transforming it into a state adjustment problem for a specific moment.

[0216] In classical control equations, the control method mainly consists of state equations and control equations:

[0217] Equations of state:

[0218] Governing equation: u = h(x);

[0219] The control method for parallel control equations is as follows:

[0220] Equations of state:

[0221] Governing equations:

[0222] Where x is the state vector, u is the control vector, and f and h represent the state function and control function, respectively;

[0223] The unified equation is expressed as:

[0224] Where z = [x T u T ] T , G(·)=[f(·) T ,h(·) T The equation implicitly represents an ordinary differential equation system with independent variable time t, which is a time-independent self-consistent system. This provides a new approach to the problem of nonlinear parallel control. On the other hand, the form of the self-consistent system establishes a connection between parallel control and kernel-based neural networks, and can be used to solve the nonlinear parallel control equations.

[0225] Considering the advantages of parallel systems in handling highly complex systems, classical control equations are applied to the physical space. By implementing classical control principles to control the real world, the implementation of parallel control equations in the information space allows complex problems to be computed in the cloud. In short, it's about "simple physical space, complex information computation." This also reflects the theoretical characteristic of parallel systems: "expanding and governing." The control vector u of the parallel control equations can serve as the target for setting classical control equations, linking the physical system and the artificial system to achieve consistency in objectives.

[0226] Discretizing the tracking problem in time transforms it into an error regulation problem for a specific moment, and further transforms the error regulation problem into a class of system regulation problems:

[0227] Control objectives are divided into two categories: one is regulation problems, which aim to ensure the stable operation of the target, and the other is... The pose is 0, and the velocity is 0. Another type is the trajectory tracking problem, which aims to ensure the controlled target moves along a predetermined trajectory. or Since the gantry crane is controlled throughout the entire process rather than as a target, the following discussion focuses on the trajectory tracking problem of the gantry crane. Considering the high degrees of freedom of the actual gantry crane and limitations in time and computational cost, only an idealized two-dimensional parachute arm is used as a case study. To demonstrate the parallel control approach, this study employs a linear quadratic controller (LQR), a typical modern control method. Similar to adaptive dynamic programming (ADP) and differential dynamics programming (DDP), it can utilize twin information for real-time parallel control.

[0228] The parallel control problem of the gantry is essentially a target tracking problem involving the velocity and pose of the target on the gantry. Discretizing the time of the target tracking problem, for a certain moment, the desired state of the target at time t+1 is:

[0229] x d [t+1]=A d x d [t]

[0230] Where A d Let x be the target transition matrix. d [t] represents the desired state of crossing the frame at time t, x d [t+1] represents the desired state of the bridging frame at time t+1; the state equation for the bridging frame is constructed as: x[t+1]=Ax[t]+Bu[t]

[0231] Where x[t+1] is the target state of the bridging frame at time t+1, A is the state matrix of the bridging frame, B is the input control matrix of the bridging frame, and u[t] is the input control vector of the bridging frame system at time t;

[0232] Since the velocity and pose of the passive target on the bridging frame are both constant vectors, A d =I; Define error:

[0233] e[t]=x[t]-xd [t]

[0234] Where e[t] is the control error of the crossing frame at time t;

[0235] At this point, the target tracking problem is transformed into a class of error adjustment problems; integrating the above equations:

[0236]

[0237] At this point, we obtain the augmented form of the space state equation: x a [t+1]=A a x a [t]+B a u[t]

[0238] Where x a [t+1] is the state vector of the crossing frame at time t+1 after the merger, A a Let x be the state matrix of the merged gantry. a [t] represents the state vector of the crossing frame at time t after the merger, B a Given the input control matrix of the merged strut; then:

[0239]

[0240] Among them, C a For [II]; relying on parallel control theory, the cost function J can be constructed:

[0241]

[0242] Where S is a symmetric positive definite matrix, usually used to weigh the importance of the state error e[t] at time t, Q is the state cost weighting matrix, R is the control cost weighting matrix, and N represents the previous N time steps;

[0243] This cost function is constructed as the cost function in the tracking problem: e[t] represents the error between the current state and the expected state at the current moment. T Qe[t] represents the cost or energy required to reduce the accumulated error from the past; u[t] T Ru[t] represents the energy required for the system to reach the next state at that moment;

[0244] Substituting e[t] into J, we get:

[0245]

[0246] Let S a =C a T SC a Qa =C a T QC a The cost function is:

[0247]

[0248] At this point, the cost function and the augmented state space equation conform to the linear quadratic canonical form; through the above process, a class of error tracking problems has been successfully transformed into a class of regulation problems;

[0249] The goal of a linear quadratic controller is to design a controller that uses state feedback u[t] = -Kx a Using [t] to minimize the cost function, we obtain:

[0250]

[0251] Suppose a constant matrix P satisfies:

[0252]

[0253] Let K = R -1 B a T P, we can obtain A a T P+PA a +Q a -PB a R -1 B a T The equation with P=0 is the Ricardi equation;

[0254] The calculation process of K: First, the state cost weighting matrix Q is determined using the Bryson method. a and control cost weighted matrix R, Q a Let P be a positive semi-definite matrix, and R be a positive definite matrix; then, solve the Riccati equation to obtain matrix P;

[0255] The goal of LQR is to select the control input u[k] that minimizes the cost function J. The weight matrices Q and R are used to adjust the importance of different states and control inputs to achieve better system control. In the specific control process, we only need to determine the matrix S. a Q a And R; the following is the numerical calculation process:

[0256] Define the state equation of the parachute arm:

[0257]

[0258] Where α, q, and θ represent the acceleration, velocity, and angle during the parachute arm's movement, respectively; the input δ is the motor-controlled deflection angle; and the output variable y is the parachute arm's pitch angle. Here, δ is our u[k].

[0259] We need to determine the state cost weighting matrix Q and the control cost weighting matrix R. Generally, these two matrices are chosen using the Bryson method. Here we choose R = 1; this is because... The calculation process is as follows:

[0260]

[0261] Here, Q i，i For the element in the i-th row and i-th column of the Q matrix, the maximum acceptable value of (error) states ) 2 Let n be the square of the maximum acceptable state error, and n be the number of states.

[0262]

[0263] Here, R j，j Let be the element in the j-th row and j-th column of matrix R, representing the maximum acceptable value of (error). inputs ) 2 To control the square of the maximum acceptable value of the input, m is the number of states. Since the target is a single target, R is a 1-dimensional matrix, and since the input has three variables, Q is a 3-dimensional matrix: [u, S, P] = lqr(A, B, Q, R);

[0264] The optimal gain u[k], the solution S of the associated algebraic Riccati equation, and the poles P of the closed-loop system are:

[0265]

[0266] Finally, calculate K = R -1 B a T P.

[0267] Example 2:

[0268] See Figure 2 A mobile umbrella-shaped gantry parallel control system, the system being used to execute the aforementioned mobile umbrella-shaped gantry parallel control method, specifically including:

[0269] Digital twin and parallel control model construction module: used to build a digital twin model of the construction scenario based on the real construction scenario, build digital twin models of each mobile crossing frame based on different crossing frame models, and build a parallel control model connecting the digital twin model of the mobile crossing frame with the actual construction mobile crossing frame system;

[0270] Knowledge graph construction module: used to build a knowledge graph of the mobile umbrella-shaped crossing frame and construction operation scenario based on the design and construction plan of the line to be constructed, the actual construction plan of the historical construction line, and the current construction safety specifications and standards;

[0271] Construction planning and simulation model building module: used to build a construction plan for a mobile umbrella-shaped scaffolding based on a digital twin model and knowledge graph, and to perform construction simulation in the digital twin model to obtain a construction plan scheme;

[0272] Parallel Control Implementation Module: This module is used for parallel control of on-site construction based on the parallel control model of the digital twin model of the mobile crossing frame and the actual construction mobile crossing frame system, with the construction planning scheme as the objective.

[0273] Example 3:

[0274] See Figure 3 A mobile umbrella-shaped gantry parallel control device includes a memory and a processor. The memory is used to store computer program code and transmit the computer program code to the processor. The processor is used to execute the aforementioned mobile umbrella-shaped gantry parallel control method according to the instructions in the computer program code.

[0275] Example 4:

[0276] A computer-readable storage medium storing a computer program that is executed by a processor of the aforementioned mobile umbrella-shaped gantry parallel control method.

Claims

1. A method for parallel control of a mobile umbrella-shaped bridging frame, characterized in that: The steps include: A digital twin model of the construction scenario is constructed based on the actual construction scenario. A digital twin model of each mobile crossing frame is constructed based on different crossing frame models. A parallel control model is constructed that connects the digital twin model of the mobile crossing frame with the actual construction mobile crossing frame system. Based on the design and construction plan of the line to be constructed, the actual construction plan of the historical construction line, and the current construction safety specifications and standards, a knowledge graph of the mobile umbrella-shaped crossing frame and construction operation scenarios is constructed. Based on digital twin models and knowledge graphs, a construction plan for a mobile umbrella-shaped crossing frame is constructed, and construction simulation is performed in the digital twin model to obtain a construction plan scheme. Parallel control of on-site construction is carried out based on the parallel control model of the mobile crossing frame digital twin model and the actual construction mobile crossing frame system with the construction planning scheme as the target. The method for constructing a parallel control model that connects the digital twin model of the mobile crossing frame with the actual mobile crossing frame system under construction is as follows: The parallel control problem of the gantry is essentially a target tracking problem involving the velocity and pose of the target on the gantry. Discretizing the time of the target tracking problem, for a certain moment, the desired state of the target at time t+1 is: ； in Let be the target transition matrix. Let t be the desired state of the frame crossing. The desired state of the crossing frame at time t+1; Construct the state equations of the gantry: ； in, The target state for crossing the frame at time t+1. The state matrix of the gantry is... The input control matrix for the gantry. for The input control vector of the gantry system at any given time; Since the velocity and pose of the passive target on the bridging platform are both constant vectors, therefore ; Define error: ； in, Let t be the control error of the gantry; At this point, the target tracking problem is transformed into a class of error adjustment problems; integrating the above equations: ； At this point, we obtain the augmented form of the space state equation: ； in Let be the state vector of the crossing frame at time t+1 after the merging. The state matrix of the merged gantry is... For the merged The state vector of the time-crossing frame. Given the input control matrix of the merged strut; then: ； in, for ; Based on parallel control theory, the cost function J is constructed: ； Here, S is a symmetric positive definite matrix used to weigh the state error at time t. The importance of Q is given by the state cost weighting matrix, R by the control cost weighting matrix, and N by the previous N time steps. This cost function is constructed as the cost function in the tracking problem: This represents the error between the current state and the expected state at the current moment. This represents the cost or energy required to reduce errors accumulated in the past. At this moment, the energy required for the system to reach the next state; Will Substitute ,get: ； make , The cost function is: ； At this point, the cost function and the augmented state space equation conform to the linear quadratic canonical form; through the above process, a class of error tracking problems has been successfully transformed into a class of regulation problems; Linear quadratic controllers use state feedback To minimize the cost function, we get: ； Suppose a constant matrix P satisfies: ； Pick , can be obtained This equation is the Ricardi equation; The calculation process of K: First, the state cost weighting matrix is ​​determined using the Bryson method. And the control cost weighting matrix R, Let P be a positive semi-definite matrix, and R be a positive definite matrix; then, solve the Riccati equation to obtain matrix P; finally, calculate... .

2. The method for parallel control of a mobile umbrella-shaped crossing frame according to claim 1, characterized in that: A digital twin model of the construction scene is constructed based on the real construction scenario. The relevant parameter information of the line to be constructed is imported into the model, including the distribution coordinate information of each tower, tower model, tower number and the layout and installation design information of the transmission line. At the same time, the domestic road network information based on the map is synchronized proportionally on the bottom layer of the model, so that the coordinates of the digital twin scene correspond one-to-one with the coordinates of the map, thus obtaining the digital twin model of the construction scene. Digital twin models of mobile crossing frames were constructed based on different crossing frame models. Three-dimensional geometric models were obtained through parametric design. The physical, behavioral and rule models of each subsystem were defined according to the actual operation mode of the mobile crossing frame, forming a high-fidelity mapping of the physical entity. Then, digital twin models were constructed for the construction equipment and materials that are used with the crossing frame. The constructed digital twin models of the mobile crossing frame and the construction equipment and materials can all be deployed into the construction scene digital twin model according to the construction plan; A parallel control model is constructed that connects the digital twin model of the mobile crossing frame with the actual mobile crossing frame system under construction. This enables the control signals of the digital twin model to synchronously control the actual mobile crossing frame system under construction. At the same time, the actual mobile crossing frame system feeds back the received sensor signals from the mobile crossing frame to the digital twin model of the mobile crossing frame to assist in the feedback adjustment of the parallel control model.

3. The method for parallel control of a mobile umbrella-shaped crossing frame according to claim 1, characterized in that: Based on the design and construction plan of the line to be constructed, the actual construction plan of the historical construction line, and the current construction safety specifications and standards, a knowledge graph of the mobile umbrella-shaped crossing frame and construction operation scenarios is constructed. The knowledge graph is constructed using construction organization requirements, construction process specifications, construction organization structure, and resource allocation as clues. Knowledge updates involve updating and storing newly generated or modified construction planning schemes based on the construction planning and simulation model of the mobile umbrella-shaped bridging frame. New construction schemes need to be added to the existing knowledge graph after knowledge fusion. At the same time, it is considered whether the same entities or relationships already exist in the existing knowledge graph for newly added entities or relationships. If they do, they are deduplicated. After the knowledge update, are there any invalid entities or relationships? If they do, they should be removed. For revisions to construction safety regulations and standards, the knowledge graph is updated and stored. For data where relevant provisions in the new construction safety regulations and standards contradict past provisions, the knowledge graph generates a comparison list, which is then determined manually.

4. The method for parallel control of a mobile umbrella-shaped crossing frame according to claim 1, characterized in that: Based on digital twin models and knowledge graphs, a construction plan for a mobile umbrella-shaped crossing frame is constructed, and construction simulation is performed in the digital twin model to obtain a construction plan scheme: relevant information parameters in the digital twin model of the construction operation scenario are input into the knowledge graph. The knowledge graph generates an initial construction plan based on the construction points of the construction plan of the line to be constructed. In the generation process, it is necessary to consider the actual construction plans of similar construction points in historical construction lines as well as the current construction safety specifications and standards. The initial construction plan generated by the knowledge graph is adjusted based on the actual situation. The knowledge graph then modifies the number of related entities or parameters based on the adjustments to the construction plan, thereby improving the construction plan. The improved construction plan is input into the digital twin model. The digital twin model calls up the crossing frame, construction equipment, and construction materials in the construction plan and arranges them in the construction scene digital twin model. The crossing frame, construction equipment, and construction materials are arranged and adjusted manually, and then the construction simulation of the crossing frame begins. If the simulation is successful, the construction plan is obtained. If the simulation fails, the reasons for the failure are analyzed, the parameters are adjusted, and the simulation is repeated.

5. The method for parallel control of a mobile umbrella-shaped crossing frame according to claim 4, characterized in that: In the construction simulation: Safety verification calculations were performed on the post-construction plan to confirm that the load-bearing capacity of the construction met the construction standard requirements. Based on a high-precision 3D model of the mobile crossing frame operation scenario, the simulation function enables dynamic simulation of the construction scheme of the mobile crossing frame for power transmission and transformation lines. According to the construction sequence, the simulation dynamically simulates the construction content of each stage in a time sequence. During the simulation, the safety of the crossing frame and crane at the crossing point is verified by collecting parameters such as the crossing frame deployment angle, crane working range, boom length, and angle through sensors. At the same time, the safe distance between the crane and the live parts, and the safe distance between the capping net and the live wires and ground wires are calculated. If the distance is not within the safe distance, an alarm is immediately triggered and the machine is stopped. After manual adjustment, the simulation is repeated.

6. A method for parallel control of a mobile umbrella-shaped bridging frame according to claim 4 or 5, characterized in that: The construction planning and construction simulation are both carried out in the digital twin model. The digital twin model displays the digital twin scene of construction with planning in a background display manner. The generation results and modifications of the construction planning are displayed in the form of a table of contents. The construction simulation is displayed in the digital twin scene in a proportional manner, with the digital twin crossing frame, the construction equipment and materials supporting the crossing frame restored.

7. A mobile umbrella-shaped gantry parallel control system, characterized in that, The system is used to execute the mobile umbrella-shaped crossing frame parallel control method as described in any one of claims 1 to 6, specifically including: a digital twin and parallel control model construction module, a knowledge graph construction module, a construction planning and deduction model construction module, and a parallel control implementation module; the digital twin and parallel control model construction module is used to construct a construction scenario digital twin model based on the real construction scenario, construct digital twin models of each mobile crossing frame based on different crossing frame models, and construct a parallel control model connecting the mobile crossing frame digital twin model and the actual construction mobile crossing frame system; Knowledge graph construction module: used to build a knowledge graph of the mobile umbrella-shaped crossing frame and construction operation scenario based on the design and construction plan of the line to be constructed, the actual construction plan of the historical construction line, and the current construction safety specifications and standards; Construction planning and simulation model building module: used to build a construction plan for a mobile umbrella-shaped scaffolding based on a digital twin model and knowledge graph, and to perform construction simulation in the digital twin model to obtain a construction plan scheme; Parallel Control Implementation Module: This module is used for parallel control of on-site construction based on the parallel control model of the digital twin model of the mobile crossing frame and the actual construction mobile crossing frame system, with the construction planning scheme as the objective.

8. A mobile umbrella-shaped gantry parallel control device, characterized in that, It includes a memory and a processor, wherein the memory is used to store computer program code and transfer the computer program code to the processor; The processor is configured to execute the mobile umbrella-shaped gantry parallel control method as described in any one of claims 1 to 6 according to instructions in the computer program code.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program that is executed by a processor according to the mobile umbrella-shaped gantry parallel control method as described in any one of claims 1 to 6.

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