Accurate positioning and mounting method for electromechanical equipment in complex area

Abstract

The invention provides a method for accurately positioning and installing electromechanical equipment in a complex area, and belongs to the technical field of electromechanical equipment installing.The method comprises the steps that three-dimensional space point cloud data is obtained through a multi-dimensional locator to construct an initial positioning vector database, and an installation coordinate matrix is determined in combination with the technical specification of the electromechanical equipment; a coordinate measuring arm and a laser tracking interferometer are used for measuring and calculating a space compensation variation vector and a thermal expansion variation vector to form a comprehensive variation vector. Performing computer simulation on an installation environment based on the acquired data, determining an optimal installation path, constructing a spatial region overlapping matrix and a spatial region idle matrix, performing calculation to generate a selectable region, determining an optimal installation point location by applying a Lagrange multiplier constraint optimization equation set, performing installation and adjustment, monitoring a deviation value in real time, and determining the optimal installation point location. When the deviation value is smaller than a preset threshold value, fixed installation is completed, and finally the installation precision is verified to meet the design requirement through operation testing.

Description

Technical Field

[0001] The present invention belongs to the technical field of installation of electromechanical equipment, and more specifically, relates to a precise positioning and installation method for electromechanical equipment in complex areas. Background Art

[0002] In fields such as industrial production, aerospace, and precision manufacturing, the precise positioning and installation of electromechanical equipment in complex areas is of crucial importance. Traditional methods for installing electromechanical equipment mainly rely on manual measurement and empirical judgment. Tools such as tape measures, spirit levels, and laser levels are used for measurement and positioning, supplemented by mechanical support and adjustment devices to complete the equipment positioning. This method can meet basic requirements in simple environments, but the operation process lacks systematicness and scientificity.

[0003] However, with the increasing integration of industrial equipment and the complexity of installation environments, traditional installation methods have many defects: First, manual measurement has subjective errors and it is difficult to meet the sub-millimeter accuracy requirements. Second, it cannot effectively cope with the spatial limitations and environmental changes in complex areas. Third, there is a lack of comprehensive consideration of multi-dimensional influencing factors such as thermal expansion and structural deformation. Finally, the installation process lacks a dynamic monitoring and real-time adjustment mechanism, resulting in the difficulty of ensuring the final installation accuracy.

[0004] In complex area installation scenarios with high-precision requirements, the prior art is difficult to solve the technical problem of the comprehensive influence of the positioning and installation accuracy of electromechanical equipment and environmental factors. When there are various influencing factors such as temperature changes, spatial limitations, and structural deformation in complex areas, traditional methods cannot accurately calculate and compensate for these errors, resulting in a deviation between the actual installation position and the theoretical position, affecting the normal operation of the equipment and the overall performance of the system. That is to say, there is a technical problem in the prior art that the positioning and installation accuracy of electromechanical equipment in complex areas is difficult to meet high-precision requirements. Summary of the Invention

[0005] In view of this, the present invention provides a precise positioning and installation method for electromechanical equipment in complex areas, which can solve the technical problem that the positioning and installation accuracy of electromechanical equipment in complex areas in the prior art is difficult to meet high-precision requirements.

[0006] The present invention is implemented as follows: The present invention provides a precise positioning and installation method for electromechanical equipment in complex areas, including: using a multi-dimensional locator to conduct an all-round scan of the complex area to obtain three-dimensional spatial point cloud data of the complex area, and constructing an initial positioning vector database; determining an installation coordinate matrix according to the technical specification requirements of the electromechanical equipment; using a coordinate measuring arm to mark control points and generating a spatial compensation variation vector; measuring the structural deformation caused by environmental temperature changes through a laser tracking interferometer, calculating the thermal expansion variation vector, and forming a comprehensive variation vector; determining the optimal installation path of the electromechanical equipment based on the traveling salesman problem algorithm; constructing a spatial area overlap matrix and a spatial area free matrix, calculating and generating optional installation areas for the electromechanical equipment; applying the Lagrange multiplier constraint optimization equations to determine the optimal installation positions, and using a five-axis adjustment platform for fine positioning; using a high-precision measurement sensor to real-time monitor the deviation value between the installation position and the theoretical position, and completing the fixed installation; verifying through operation tests that the installation accuracy meets the design requirements.

[0007] Among them, the multi-dimensional locator is composed of a laser ranging system, an angle encoder, a high-resolution imaging system, and a data processing unit, and has millimeter-level spatial positioning ability and three-dimensional modeling function.

[0008] Among them, the initial positioning vector refers to a three-dimensional vector data set of the relationship between the theoretical installation position of the equipment and the surrounding environment obtained by the multi-dimensional locator before the installation of the electromechanical equipment, and includes two parts: a position vector and a direction vector.

[0009] Among them, the spatial compensation variation vector refers to the amount of position and angle correction required due to the deviation between the actual environment of the complex area and the theoretical design, which is manifested as the translation amount and rotation amount in three-dimensional space.

[0010] Among them, the thermal expansion variation vector refers to the position offset generated due to the thermal expansion or contraction of the structural material caused by temperature changes, and is calculated by the product of the thermal expansion coefficient and the temperature difference.

[0011] Among them, the comprehensive variation vector is the final positioning correction amount calculated by vector superposition of the spatial compensation variation vector and the thermal expansion variation vector, and is used to achieve precise installation positioning.

[0012] Among them, the spatial area overlap matrix is a mathematical model describing the overlapping degree of different spatial areas in the installation space, used to evaluate the spatial conflict between the equipment installation position and the surrounding equipment or structures, and is calculated and generated through the spatial relationship between the elements in the initial positioning vector database.

[0013] Among them, the spatial area free matrix is a mathematical model describing the availability of each area in the installation space, formed by dividing the entire installation space into grids and marking the occupancy status of each grid unit, and is used to quickly locate the free space suitable for installation.

[0014] Among them, the optional area refers to the spatial range that meets the installation accuracy requirements of electromechanical equipment, which is jointly determined by the initial positioning vector, the comprehensive change vector, and the spatial area idle matrix, and is manifested as a three-dimensional space tolerance area.

[0015] Among them, the Lagrange multiplier constraint optimization equation set includes an objective function equation, a position constraint equation, an attitude constraint equation, and a stability constraint equation; among them, the objective function equation is used to calculate the comprehensive evaluation value of the installation position of the electromechanical equipment, the position constraint equation is used to limit the installation space coordinate range of the electromechanical equipment, the attitude constraint equation is used to ensure that the installation angle of the electromechanical equipment meets the requirements, and the stability constraint equation is used to evaluate the structural stability of the installation position.

[0016] The present invention constructs an initial positioning vector database through all-round scanning by a multi-dimensional locator, combines a coordinate measuring arm and a laser tracking interferometer to measure environmental changes, calculates the comprehensive change vector, determines the optimal installation path by using the traveling salesman problem algorithm, and applies the Lagrange multiplier constraint optimization equation set to determine the optimal installation point, realizing the high-precision positioning and installation of electromechanical equipment in a complex area.

[0017] This method solves a number of defects in the traditional technology: by constructing an initial positioning vector database and a comprehensive change vector, it realizes the accurate description and error compensation of the installation environment; by constructing a spatial area overlap matrix and a spatial area idle matrix, it solves the problem of spatial limitation in complex areas; by using the Lagrange multiplier constraint optimization equation set, it ensures finding the optimal installation position under multiple constraint conditions; by using high-precision measurement sensors to monitor the installation process in real time, it realizes dynamic adjustment and precise control.

[0018] The present invention solves the technical problem that it is difficult to meet the high-precision requirements for the positioning and installation accuracy of electromechanical equipment in a complex area through a systematic and digital method, improves the installation accuracy to the sub-millimeter level, meets the installation requirements of high-precision electromechanical equipment in a complex environment, and improves the installation efficiency and the operation reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flowchart of the method of the present invention.

[0020] Figure 2 is a device deployment diagram in Embodiment 2. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] To make the purpose, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0022] Such as Figure 1As shown in the figure, it is a flowchart of a precise positioning and installation method for electromechanical equipment in a complex area provided by the present invention. This method includes the following steps:

[0023] S01. Use a multi-dimensional locator to conduct an all-round scan of the complex area, obtain the three-dimensional spatial point cloud data of the complex area, and construct an initial positioning vector database to determine the installation reference position of the electromechanical equipment;

[0024] S02. According to the technical specification requirements of the electromechanical equipment, determine the center of gravity coordinates and fixed point coordinates of the electromechanical equipment, calculate and form an installation coordinate matrix, and set correction parameters according to the actual situation of the installation surface;

[0025] S03. Use a coordinate measuring arm to mark control points in the complex area, measure the deviation between the actual coordinate values and the theoretical values of the control points, and generate a spatial compensation variation vector;

[0026] S04. Measure the structural deformation caused by the change in ambient temperature through a laser tracking interferometer, calculate the thermal expansion variation vector, and superimpose the thermal expansion variation vector and the spatial compensation variation vector to form a comprehensive variation vector;

[0027] S05. Conduct computer simulation on the installation environment based on the acquired data, use the traveling salesman problem algorithm to determine the optimal installation path of the electromechanical equipment, consider minimizing the total path length and avoiding obstacles, and mark the critical area where the comprehensive variation vector changes during the transmission of the electromechanical equipment;

[0028] S06. Construct a spatial region overlap matrix and a spatial region idle matrix, calculate and generate the optional installation regions of the electromechanical equipment according to the initial positioning vector database, the comprehensive variation vector, and the spatial region overlap matrix, and conduct dynamic monitoring on the optional regions through a visual recognition system;

[0029] S07. Apply the Lagrange multiplier constraint optimization equations to determine the optimal installation points, call the air-floating auxiliary device to transport the electromechanical equipment into the optional regions, and use a five-axis adjustment platform for fine positioning to precisely control the offset of six degrees of freedom;

[0030] S08. Use a high-precision measurement sensor to continuously monitor the deviation value between the installation position and the theoretical position of the electromechanical equipment. When the deviation value is less than the preset threshold, complete the fixed installation;

[0031] S09. Verify the no-load and load operating states of the electromechanical equipment through running tests, and confirm that the positioning and installation accuracy of the electromechanical equipment meets the design requirements.

[0032] Among them, the multi-dimensional locator is a precision measurement device composed of a laser ranging system, an angle encoder, a high-resolution imaging system, and a data processing unit, and has millimeter-level spatial positioning capabilities and three-dimensional modeling functions.

[0033] Among them, the initial positioning vector refers to a three-dimensional vector data set of the relationship between the theoretical installation position of the electromechanical equipment and the surrounding environment obtained by a multi-dimensional locator before the installation of the electromechanical equipment, which includes two parts: the position vector and the direction vector.

[0034] Among them, the spatial compensation variation vector refers to the position and angle correction amounts that need to be made due to the deviation between the actual environment in the complex area and the theoretical design, which is manifested as the translation amount and the rotation amount in the three-dimensional space.

[0035] Among them, the thermal expansion variation vector refers to the position offset amount generated due to the thermal expansion or contraction of the structural material caused by temperature change, which is calculated by the product of the thermal expansion coefficient and the temperature difference.

[0036] Among them, the comprehensive variation vector is the final positioning correction amount calculated by superimposing the spatial compensation variation vector and the thermal expansion variation vector through the vector superposition principle, which is used to achieve precise installation positioning.

[0037] Among them, the spatial region overlap matrix is a mathematical model that describes the overlapping degree of different spatial regions in the installation space, which is used to evaluate the spatial conflict between the installation position of the equipment and the surrounding equipment or structures, and is generated by calculating the spatial relationship between the elements in the initial positioning vector database.

[0038] Among them, the spatial region free matrix is a mathematical model that describes the availability of each region in the installation space, which is formed by dividing the entire installation space into grids and marking the occupancy status of each grid unit, and is used to quickly locate the free space suitable for installation.

[0039] Among them, the optional region refers to the spatial range that meets the installation accuracy requirements of the electromechanical equipment, which is jointly determined by the initial positioning vector, the comprehensive variation vector, and the spatial region free matrix, and is manifested as a three-dimensional space tolerance region.

[0040] Among them, the five-axis adjustment platform is a precision adjustment device composed of five independent control axes, which can achieve precise adjustment of translation in three directions and rotation in two directions in space, and the accuracy reaches the micron level.

[0041] Among them, the air-floating auxiliary device is an auxiliary system that uses the air-cushion principle to reduce friction and realizes the easy and stable movement of heavy electromechanical equipment, which is composed of an air pump, an air-cushion plate, a pressure regulating valve, and a control system.

[0042] Among them, the Lagrangian multiplier constraint optimization equation set includes an objective function equation, a position constraint equation, an attitude constraint equation, and a stability constraint equation; the objective function equation is used to calculate the comprehensive evaluation value of the installation position of the electromechanical device. The inputs include the center-of-gravity coordinates of the electromechanical device, the normal vector of the installation surface, the comprehensive change vector, the expected stress distribution, and the position coordinates of the support points, and the output is the optimal installation position evaluation function value; the position constraint equation is used to limit the range of the installation space coordinates of the electromechanical device. The inputs include the boundary coordinates of the optional area, the peripheral dimension parameters of the electromechanical device, the safety clearance value, the reserved channel dimension, and the interface position of the electromechanical device, and the output is a set of feasible solutions that meet the space limitations; the attitude constraint equation is used to ensure that the installation angle of the electromechanical device meets the requirements. The inputs include the main axis direction vector of the electromechanical device, the allowable inclination angle, the interface mating angle requirement, the force direction parameter, and the operation interface orientation requirement, and the output is a set of feasible solutions that meet the angle limitations; the stability constraint equation is used to evaluate the structural stability of the installation position. The inputs include the force distribution of the support points, the vibration transfer coefficient, the center-of-gravity offset, the expected dynamic load, and the ground bearing capacity, and the output is a set of feasible solutions that meet the stability requirements.

[0043] Among them, the traveling salesman problem algorithm is a graph theory optimization algorithm used to determine the optimal installation path of the electromechanical device. By constructing a distance matrix between spatial nodes, it finds the shortest closed loop that passes through all necessary nodes, ensuring the highest moving efficiency during the installation process of the electromechanical device.

[0044] The following will describe in detail the specific implementation manners of the above steps.

[0045] The specific implementation manner of step S01 is to perform an all-round scanning measurement on the complex area through a multi-dimensional locator. This multi-dimensional locator adopts the triangulation principle. It emits a laser beam through the laser ranging system and receives the reflected signal, and combines the horizontal and vertical angle data recorded by the angle encoder to calculate the position coordinates of spatial points. First, start the multi-dimensional locator, set the scanning resolution to 0.5 mm, and the scanning range covers the entire installation area; then perform an all-round scan to obtain the reflected point coordinates of all surfaces in the area, forming the original point cloud data; then use the nearest neighbor point clustering algorithm to perform noise reduction processing on the original point cloud data, filtering out outliers and noise points; subsequently, apply the iterative closest point algorithm to register the point cloud data to eliminate the coordinate system differences caused by scanning from different positions; finally, construct an initial positioning vector database based on the octree space partitioning algorithm, convert the spatial point cloud data into a set of directed vectors, and determine the installation reference position of the electromechanical device. The purpose of this step is to obtain accurate three-dimensional spatial information of the complex area, providing basic data support for subsequent positioning and installation, and the positioning accuracy is controlled within ±1 mm.

[0046] The specific implementation of step S02 is to determine the key parameters and installation coordinates according to the technical specifications of the electromechanical equipment. First, consult the technical documents of the electromechanical equipment to obtain parameters such as the equipment's external dimensions, weight distribution, and fixed point positions; then, based on the centroid calculation principle, use the finite element analysis method to determine the centroid coordinates of the electromechanical equipment. Let the equipment mass be m, and the mass of each component be m i , and the centroid coordinates of each component be (x i , y i , z i ). Then the centroid coordinates of the equipment are (∑m i x i / m, ∑m i y i / m, ∑m i z i / m); then, according to the equipment installation requirements, determine the relative coordinates of the equipment's fixed points. Usually, 4 to 8 fixed points are selected to ensure stability; subsequently, combine the centroid coordinates and the fixed point coordinates to form an installation coordinate matrix, which contains the coordinates of all key points to be positioned; finally, according to the actual situation of the installation surface, set correction parameters, including elevation adjustment amount, horizontal displacement amount, and rotation angle. The setting threshold of the correction parameters is elevation adjustment amount ±5 mm, horizontal displacement amount ±3 mm, and rotation angle ±0.5°. The function of this step is to determine the precise coordinates of the theoretical installation position of the electromechanical equipment and provide a data basis for subsequent actual installation.

[0047] The specific implementation of step S03 is to use a coordinate measuring arm to mark and measure control points. First, select positions with obvious features and uniform distribution in the complex area to set control points. The number of control points is not less than 12, and the spacing is 2 to 5 m; then use the coordinate measuring arm to measure the three-dimensional coordinates of these control points, and the measurement accuracy reaches ±0.02 mm; then compare the actual coordinates obtained from the measurement with the theoretical coordinates on the design drawing to calculate the coordinate deviation value of each control point; subsequently, use the least squares fitting algorithm to calculate the spatial compensation variation vector based on the obtained deviation values. This vector contains the spatial translation amount (Δx, Δy, Δz) and the rotation amount (θx, θy, θz); finally, perform a residual analysis on the fitting result to ensure that the fitting accuracy meets the requirements, and the residual standard deviation is less than 0.1 mm. The purpose of this step is to obtain the deviation information between the actual space and the theoretical space, generate a spatial compensation variation vector, and provide a correction basis for subsequent installation positioning.

[0048] The specific implementation of step S04 is to measure the structural deformation caused by environmental temperature changes and calculate the thermal expansion variation vector. First, set up a laser tracking interferometer and set multiple measurement target points in the complex area; then record the environmental reference temperature T0 and the real-time temperature T, with the temperature monitoring accuracy reaching ±0.1 °C; then use the laser tracking interferometer to continuously measure the changes in the positions of the target points at different temperatures, with the measurement frequency being 10 times per hour; subsequently, according to the linear thermal expansion theory, calculate the thermal expansion variation vector. Let the linear thermal expansion coefficient of the material be α, then the thermal expansion displacement ΔL = L0·α·(T - T0), where L0 is the reference length; finally, synthesize the spatial compensation variation vector and the thermal expansion variation vector through the vector superposition principle to form a comprehensive variation vector. The calculation of the comprehensive variation vector takes into account the directionality and magnitude of the two variation vectors. The purpose of this step is to compensate for the positioning error caused by temperature changes and improve the installation accuracy. The effective temperature range for thermal expansion compensation is 15 - 35 °C.

[0049] The specific implementation of step S05 is to perform computer simulation on the installation environment based on the acquired data and determine the optimal installation path. First, import the initial positioning vector database and the comprehensive variation vector into the computer simulation system to construct a three-dimensional virtual installation environment; then set the installation start and end points of the electromechanical equipment in the virtual environment, and at the same time mark the positions of all necessary nodes and obstacles; then apply an improved traveling salesman problem algorithm for path planning. This algorithm combines the ant colony optimization and genetic algorithms. By setting the pheromone decay coefficient to 0.8, the population size to 100, and the number of iterations to 500, find the optimal path with the minimum total path length and meeting the obstacle avoidance requirements; then perform dynamic simulation on the equipment transmission process along the planned path to identify the area where the comprehensive variation vector changes significantly, that is, the critical area. The critical area determination criterion is that the change rate of the comprehensive variation vector exceeds 5% / m; finally, mark the critical area and generate a detailed path navigation map. The threshold for the goal of minimizing the total path length is set such that the actual path length does not exceed 120% of the theoretical shortest path. The role of this step is to ensure the safe and efficient transmission process of the electromechanical equipment from the entrance to the installation position, avoiding collisions and unnecessary path extensions.

[0050] The specific implementation of step S06 is to construct a spatial region matrix and calculate the optional installation areas for the electromechanical equipment. First, the installation space is divided into cubic grid cells with a side length of 10 cm using the spatial grid method. Then, based on the spatial occupancy information in the initial positioning vector database, a spatial region overlap matrix is constructed. This matrix uses a three-dimensional sparse matrix storage format, and the element values represent the spatial overlap degrees of each grid cell. Next, a spatial region free matrix is constructed to mark the occupancy status of each grid cell, where 0 represents free, 1 represents occupied, and 0.5 represents partially occupied. Subsequently, combining the initial positioning vector database, the comprehensive change vector, and the spatial region overlap matrix, the optional installation areas for the electromechanical equipment are calculated and generated using Boolean operations and spatial filtering algorithms. This region meets the conditions of a spatial overlap degree less than 10% and good continuity. Finally, a vision recognition system is deployed to dynamically monitor the optional areas, and a deep learning object detection algorithm is used to identify dynamic obstacles in the area in real time at a detection frequency of 30 frames per second and an identification accuracy greater than 95%. The purpose of this step is to determine the available space range that meets the installation requirements and provide spatial constraint conditions for the selection of the optimal installation points.

[0051] The specific implementation of step S07 is to determine the optimal installation points and perform the installation by applying the Lagrange multiplier constraint optimization equations. First, a Lagrange multiplier constraint optimization equation set is constructed, including the objective function equation, position constraint equation, attitude constraint equation, and stability constraint equation. Then, relevant parameters are input, including the center of gravity coordinates of the electromechanical equipment, the normal vector of the installation surface, the comprehensive change vector, etc. The augmented Lagrangian method is used to solve the optimization equation set, and the iterative convergence accuracy is set to 10 -6 ; Next, the optimal installation points are determined according to the solution results, and the positioning parameters of six degrees of freedom are generated at the same time. Subsequently, the air-floating auxiliary device is called, and the air cushion pressure is controlled at 0.6 - 0.8 MPa to smoothly transport the electromechanical equipment into the optional area. Finally, a five-axis adjustment platform is used for fine positioning. The translation accuracy of the platform is ±0.005 mm, and the rotation accuracy is ±0.001°. The three-direction translation amounts and two-direction rotation angles of the equipment are precisely adjusted through a closed-loop control system until the theoretical optimal position is reached. The function of this step is to determine the optimal installation position of the electromechanical equipment and achieve precise transportation and positioning on the premise of meeting various constraint conditions.

[0052] The specific implementation of step S08 is to use a high-precision measurement sensor to monitor the deviation value between the installation position and the theoretical position in real time and complete the fixed installation. First, install optical reflection targets and displacement sensors at key positions of the electromechanical equipment; then start the high-precision measurement system, including a laser tracker and an electronic level, to continuously monitor the actual position of the equipment, with a sampling frequency of 5 Hz; then calculate the deviation value between the current position of the equipment and the theoretical optimal position in real time, and the deviation value includes position deviation and angle deviation; subsequently, according to the deviation value, perform real-time position correction through a five-axis adjustment platform until the deviation value is less than the preset threshold, and this threshold is set to a position deviation less than 0.05 mm and an angle deviation less than 0.01°; finally, after meeting the preset accuracy requirements, lock the adjustment platform and use the supporting fasteners to perform fixed installation according to the torque control method, with a torque control accuracy of ±2%. The purpose of this step is to ensure the high precision of the installation position of the electromechanical equipment, and through real-time monitoring and feedback adjustment, achieve precise positioning and stable installation.

[0053] The specific implementation of step S09 is to verify the installation accuracy and performance of the electromechanical equipment through operation tests. First, conduct no-load operation tests on the installed electromechanical equipment and record parameters such as vibration, noise, and temperature rise; then conduct load operation tests, with the load gradually increasing from 25% to 100%, and the operation time at each load point being no less than 30 minutes; then use precision measuring instruments to monitor the position changes of the equipment during operation, including foundation settlement, horizontal displacement, and rotation angle change; subsequently, compare and analyze the test data with the design requirements to determine whether the positioning and installation accuracy of the equipment meets the requirements, and the judgment criteria are a position error less than 0.1 mm, an angle error less than 0.05°, and a vibration amplitude less than 80% of the design limit; finally, generate an installation quality acceptance report based on the test results, recording various key parameters and test data. The function of this step is to verify the installation quality of the electromechanical equipment through actual operation tests and ensure that the accuracy and performance of the equipment under working conditions meet the design requirements.

[0054] Optionally, the multi-dimensional locator consists of a laser ranging system, an angle encoder, a high-resolution imaging system, and a data processing unit. Among them, the laser ranging system includes a semiconductor laser emitter and a photodetector, with a working wavelength of 780 nm and a ranging accuracy of ±0.3 mm; the angle encoder uses a high-precision grating structure, with a horizontal angle resolution of 0.0005° and a vertical angle resolution of 0.0005°, and the angle measurement range is 360° horizontally and ±45° vertically; the high-resolution imaging system consists of an industrial camera with tens of millions of pixels and an autofocus lens, with a field of view angle of 60°, supporting scene texture capture and feature recognition; the data processing unit uses an embedded high-performance computing platform, equipped with a digital signal processing chip and a real-time point cloud processing algorithm, which can synchronously process ranging, angle, and image data to achieve millimeter-level spatial positioning and three-dimensional reconstruction functions.

[0055] Optionally, the coordinate measuring arm is a multi-joint robotic arm type high-precision three-dimensional measuring device, which consists of a base, multi-stage carbon fiber connecting rods, joint encoders, a probe, and a control system. Among them, the base adopts a stable triangular support structure and is built with an automatic level compensation mechanism; the multi-stage carbon fiber connecting rods are usually of a 6-7 stage structure, made of high-modulus carbon fiber composite materials, and have the characteristics of high rigidity and low thermal expansion coefficient; the joint encoders are installed at the joints of each connecting rod, with a resolution of up to 0.0001°, and are used to monitor the angles of each joint in real time; the probe includes two types, a hard touch probe and a non-contact laser scanning head. The measurement accuracy of the touch probe is ±0.01mm, and the point cloud acquisition density of the laser scanning head is 1000 points / second; the control system adopts real-time dynamic compensation technology, which can eliminate the measurement errors caused by joint deflection and temperature drift. The effective measurement range is 2-3m, and the comprehensive measurement accuracy reaches ±0.02mm.

[0056] Optionally, the laser tracking interferometer is a device for high-precision large-range three-dimensional coordinate measurement, which consists of a laser interferometry system, a high-precision servo turntable, an automatic target tracking system, and a measurement data processing system. Among them, the laser interferometry system uses a frequency-stabilized helium-neon laser, and the wavelength stability is better than 10 -7 , with a resolution of up to 0.1μm; the high-precision servo turntable has two-axis rotation freedom, the angle resolution is 0.00001°, and the angle repeat positioning accuracy is ±0.0001°; the automatic target tracking system includes a quadrant photodetector and a high-speed servo control loop, which can lock and track the moving target in real time, and the tracking speed reaches 4m / s; the measurement data processing system uses an adaptive Kalman filter algorithm to realize the real-time fusion processing of distance and angle data. The measurement range can reach 80m, and the absolute measurement accuracy is ±10μm + 0.5μm / m.

[0057] Optionally,

[0058] The air-floating auxiliary device is an auxiliary system for the easy handling of heavy electro-mechanical equipment, which consists of an air pump, an air cushion plate, a pressure regulating valve, and a control system. Among them, the air pump uses an oil-free screw compressor, with a maximum output pressure of 1.0MPa and a flow rate of 1.2m 3 / min; the air cushion plate is made of high-strength aluminum alloy, and a special microporous membrane structure is provided at the bottom. The micropore diameter is 50-100μm, and the density is 400-600 pieces / cm 2 , forming a uniform air film; the pressure regulating valve uses electronic proportional regulation technology, and the pressure regulation range is 0.2-0.8MPa, and the regulation accuracy is ±0.01MPa; the control system includes a pressure sensor, an inclination sensor, and a microprocessor, and realizes the real-time balance regulation of the air cushion plate pressure through closed-loop control. The maximum load capacity is 5000kg, and the friction coefficient is reduced to less than 0.001, which can effectively reduce the moving resistance and realize the smooth and precise movement of heavy equipment.

[0059] Optionally, the five-axis adjustment platform is a high-precision position adjustment device, which consists of a base platform, a three-dimensional displacement mechanism, a two-dimensional rotation mechanism, and a control system. The base platform is made of heavy-duty steel structure, and its surface is precision ground to a flatness of 0.01 mm / m. The three-dimensional displacement mechanism includes three sets of precision guide rails and screw drive units that are perpendicular to each other. The stroke of each axis is ±50 mm, and the positioning resolution is 0.001 mm. The two-dimensional rotation mechanism adopts a worm and gear transmission structure, combined with a high-precision reducer, and can achieve precise rotation around the X-axis and Y-axis. The rotation range is ±5°, and the angular resolution is 0.0005°. The control system adopts six-axis linkage closed-loop control technology, equipped with high-precision displacement sensors and angle encoders, and realizes sub-micron positioning accuracy through the PID algorithm. The system's repeat positioning accuracy reaches ±0.005 mm, and the rated load capacity is 2000 kg.

[0060] Optionally, the high-precision measurement sensor system is a comprehensive measurement system used to monitor the installation position of electromechanical equipment in real time. It consists of an optical reflection target, a displacement sensor, a laser tracker, an electronic level, and a data acquisition and processing system. The optical reflection target adopts a spherical reflector design, and the reflection error is less than 0.5 μm. The displacement sensor adopts a capacitive non-contact measurement principle, with a measurement range of 0 to 10 mm and a resolution of 0.1 μm. The laser tracker adopts absolute interferometric ranging technology, with a measurement range of 2 to 40 m and an accuracy of ±5 μm + 2 μm / m. The electronic level adopts a liquid pendulum sensor, with a measurement range of ±10′ and a resolution of 0.1″. The data acquisition and processing system adopts real-time multi-sensor data fusion technology, supports high-precision position calculation at a sampling frequency of 5 Hz, and the system's comprehensive measurement accuracy is better than ±0.05 mm.

[0061] Optionally, the vision recognition system is an intelligent system used for dynamic monitoring of the optional installation area. It consists of multiple high-definition cameras, depth cameras, an image processing unit, and an artificial intelligence recognition module. The high-definition cameras adopt 4-megapixel industrial cameras, with a frame rate of 60 fps and a field of view angle of 120°. The depth camera is based on the structured light principle, with a depth resolution of 1 mm and a measurement range of 0.5 to 8 m. The image processing unit adopts a GPU-accelerated computing architecture, supporting real-time image filtering, feature extraction, and target tracking. The artificial intelligence recognition module is based on a deep learning convolutional neural network, adopts the YOLO v5 object detection algorithm, and is trained with more than 10,000 samples. It can real-time identify dynamic obstacles and personnel in the installation environment, with an identification accuracy greater than 95%, a response time less than 30 ms, and supports the function of multi-target simultaneous tracking.

[0062] The following details the mathematical models or calculation processes involved in the present invention.

[0063] Step S01 involves a multi-dimensional locator for omnidirectional scanning and measurement of a complex area. The calculation of the spatial point position coordinates is mainly based on the principle of laser triangulation. It is specifically expressed as follows:

[0064] P i =(x i , y i , z i )=(d i ·sinθ i ·cosφ i , d i ·sinθ i ·sinφ i , d i ·cosθ i );

[0065] In the formula, P i represents the three-dimensional coordinates of the i-th spatial point; d i represents the distance value measured by the laser ranging system, with the unit of millimeters; θ i represents the vertical angle value, which is measured by a vertical angle encoder and has the unit of radians; φ i represents the horizontal angle value, which is measured by a horizontal angle encoder and has the unit of radians.

[0066] For the noise reduction processing of point cloud data, the nearest neighbor point clustering algorithm is adopted. It is specifically expressed as follows:

[0067]

[0068] C i ={P j |D ij <δ, j = 1, 2,..., n};

[0069] O i ={P i ||C i |<τ};

[0070] In the formula, D ij represents the Euclidean distance between point P i and point P j ; C i represents the clustering result centered on point P i ; δ represents the clustering radius threshold, and its value range is 2 - 5mm; |C i | represents the number of points included in the cluster C i ; τ represents the noise point determination threshold, and its value range is 5 - 10; O i represents the set of identified outlier points.

[0071] The Iterative Closest Point (ICP) algorithm is used for point cloud registration. Its objective function and transformation matrix are specifically expressed as follows:

[0072]

[0073] In the formula, E(R, t) represents the error function of point cloud registration; N p represents the number of point pairs participating in the registration; P i represents the points in the target point cloud; Q i represents the closest point in the source point cloud corresponding to P i ; R represents the rotation matrix, which is a 3×3 matrix; t represents the translation vector, which is a 3×1 vector; T represents the homogeneous transformation matrix, which is a 4×4 matrix; r ij represents the elements of the rotation matrix; t x , t y , t z represent the three components of the translation vector. The Iterative Closest Point algorithm realizes point cloud registration by minimizing the error function E(R, t) and solving the optimal transformation matrix T.

[0074] The initial positioning vector database is constructed using the octree space partitioning algorithm. Its node splitting criterion and vector calculation are specifically expressed as follows:

[0075] V ijk ={(x, y, z)|x min +iΔx ≤ x < x min +(i + 1)Δx, y min +jΔt ≤ y < y min +(j + 1)Δy, z min +kΔz ≤ z < z min +(k + 1)Δz};

[0076]

[0077] In the formula, V ijk represents the voxel in the octree; i, j, k represent the indices of the voxel; Δx, Δy, Δz represent the sizes of the voxel, and the value range is 10 - 50 mm; x min , y min , z min represent the minimum coordinate values of the point cloud data; D v represents the initial positioning vector database; p i represents the points in the point cloud; represents the normal vector at point p i ; N(p i ) represents the neighborhood point set of point p i ; |N(p i)| represents the size of the neighborhood point set. The normal vector is calculated using the average cross product of neighborhood points, which can effectively reduce the influence of noise and improve the accuracy of normal vector calculation.

[0078] Step S02 involves the calculation of the center of gravity coordinates and the installation coordinate matrix of the electromechanical equipment. Specifically, it is expressed as follows:

[0079]

[0080] A modified = A·R(α, β, γ) + T(Δx, Δy, Δz);

[0081] In the formula, G represents the center of gravity coordinates of the electromechanical equipment; x G , y G , z G represent the three coordinate components of the center of gravity; M represents the total mass of the equipment, in kilograms; N c represents the number of equipment components; m i represents the mass of the i-th component, in kilograms; x i , y i , z i represent the coordinates of the center of gravity of the i-th component; F represents the set of fixed point coordinates; N f represents the number of fixed points, usually 4 to 8; F i represents the coordinates of the i-th fixed point; A represents the installation coordinate matrix, including the center of gravity coordinates and all fixed point coordinates; A modified represents the installation coordinate matrix adjusted by the correction parameters; R(α, β, γ) represents the rotation matrix, determined by the rotation angles α, β, γ; T(Δx, Δy, Δz) represents the translation matrix, determined by the translation amounts Δx, Δy, Δz. The setting threshold of the correction parameters is the elevation adjustment amount Δz: ±5mm, the horizontal displacement amounts Δx, Δy: ±3mm, and the rotation angles α, β, γ: ±0.5°.

[0082] Step S03 involves the calculation of the spatial compensation change vector. Specifically, it is expressed as follows:

[0083]

[0084] ΔCP i = CP actual，i - CP i = (Δx i , Δy i , Δz i );

[0085]

[0086] ΔT(P) = R Δ ·P + T Δ-P;

[0087] R Δ = R z (δγ)·R y (δβ)·R x (δα);

[0088] T Δ = (δx, δy, δz);

[0089]

[0090] In the formula, CP represents the set of theoretical coordinates of the control points; N cp represents the number of control points, not less than 12; CP i represents the theoretical coordinates of the i-th control point; CP actual represents the set of actual measured coordinates of the control points; CP actual，i represents the actual measured coordinates of the i-th control point; ΔCP i represents the coordinate deviation of the i-th control point; ΔT represents the spatial transformation function; ||·|| represents the Euclidean distance norm; R Δ represents the rotation correction matrix; R x 、R y 、R z respectively represent the rotation matrices about the x-axis, y-axis, and z-axis; δα, δβ, δγ represent the rotation angles in three directions, in radians; T Δ represents the translation correction vector; δx, δy, δz represent the translation amounts in three directions, in millimeters; represents the spatial compensation variation vector, including three translation components and three rotation components. The calculation of the spatial compensation variation vector adopts the least squares fitting algorithm, and the optimal spatial transformation parameters are solved by minimizing the sum of the squares of the control point deviations.

[0091] Step S04 involves the calculation of the thermal expansion variation vector and the synthesis of the comprehensive variation vector. Specifically, it is expressed as follows:

[0092] ΔL i = L 0i ·α i ·(T - T0);

[0093]

[0094] In the formula, ΔL i represents the thermal expansion displacement of the i-th measurement point, in millimeters; L 0i represents the reference length of the i-th measurement point, in millimeters; α i represents the linear thermal expansion coefficient of the material, in 1 / °C, and the value range of common materials is 1×10 -6~25×10 -6 / °C; T represents the real-time temperature, with the unit of °C; T0 represents the ambient reference temperature, with the unit of °C; represents the direction vector of the i-th measurement point, which is a unit vector; represents the thermal expansion change vector of the i-th measurement point; N t represents the number of thermal expansion measurement points; represents the average thermal expansion change vector; represents the comprehensive change vector; represents the cross term between the spatial compensation change vector and the thermal expansion change vector; k represents the cross term coefficient, and its value range is 0.01 - 0.1. The calculation of the comprehensive change vector not only considers the simple superposition of the spatial compensation change vector and the thermal expansion change vector, but also introduces the cross term to represent the coupling effect between the two change vectors.

[0095] Step S05 involves the path planning calculation of the traveling salesman problem algorithm. Specifically, it is expressed as follows:

[0096] D = {d ij} n×n ;

[0097]

[0098] τ ij (t + 1) = (1 - ρ)·τ ij (t) + Δτ ij ;

[0099]

[0100] η ij = 1 / d ij ;

[0101] R = {r1, r2,..., r n};

[0102]

[0103] CR = {r i |ΔV comp (r i ) / ||r i - r i-1 ||> ε};

[0104] In the formula, d represents the distance matrix; d ij represents the weighted distance from node i to node j; x i , y i , z iDenote the three-dimensional coordinates of node i; λ represents the obstacle avoidance weight coefficient, and its value range is 10 to 100; O ij Denote the obstacle avoidance function of path (i, j); π represents the path arrangement; τ ij (t) represents the pheromone concentration on path (i, j); ρ represents the pheromone decay coefficient, and its value is 0.8; Δτ ij Denote the increment of pheromone on path (i, j); m represents the number of ants in the ant colony algorithm, and its value is 100; Denote the increment of pheromone left by the k-th ant on path (i, j); Q represents the pheromone intensity coefficient, and its value range is 10 to 100; L k Denote the total length of the path constructed by the k-th ant; Denote the probability that the k-th ant chooses to move from node i to node j; α represents the importance factor of pheromone, and its value range is 1 to 3; β represents the importance factor of heuristic information, and its value range is 2 to 5; allowed k Denote the set of nodes that the k-th ant is allowed to visit; η ij Denote the heuristic information of path (i, j); R represents the planned path sequence; ΔV comp (r i ) denotes the path point r i The change amount of the comprehensive change vector at the point relative to the previous point; CR represents the critical region of the change of the comprehensive change vector; ε represents the critical region determination threshold, and its value is 5% / m.

[0105] Step S06 involves the construction of the spatial region matrix and the calculation of the optional installation area of the electromechanical equipment. The specific representation is as follows:

[0106] G ijk ={(x, y, z)|x min +iΔs ≤ x < x min +(i + 1)Δs, y min +jΔs ≤ y < y min +(j + 1)Δs, z min +kΔs ≤ z < z min +(k + 1)Δs};

[0107] M overlap ={o ijk} I × J×K ;

[0108]

[0109] M free ={f ijk} I×J×K ;

[0110]

[0111] A selectable ={G ijk |f ijk ≤0.5 and G ijk satisfies the continuity condition};

[0112] C continuity (G ijk ) = ∑ p，q，r∈{-1，0，1} f i+p，j+q，k+r <c threshold ;

[0113] In the formula, G ijk represents a spatial grid cell; Δs represents the side length of the grid cell, with a value of 10 cm; M overlap represents a spatial region overlap matrix; o ijk represents the spatial overlap degree of the grid cell G ijk ; S occupied represents the occupied spatial region; |G ijk | represents the volume of the grid cell G ijk ; |G ijk ∩S occupied | represents the intersection volume of the grid cell G ijk and the occupied space S occupied ; M free represents a spatial region free matrix; f ijk represents the occupancy status value of the grid cell G ijk ; o threshold represents the overlap degree threshold, with a value of 0.1, i.e., 10%; A selectable represents the optional area for electromechanical equipment installation; C continuity represents a continuity condition function; c threshold represents the continuity threshold, with a value range of 10 - 15. The continuity condition requires that the sum of the occupancy status values in the grid cell and its 26 adjacent cells is less than the threshold c threshold , ensuring that the optional area has sufficient continuous space.

[0114] Step S07 involves solving a system of Lagrange multiplier constraint optimization equations. Specifically, it is expressed as follows:

[0115]

[0116] X = (x, y, z, θ x , θ y , θ z );

[0117] f(X) = w1f stability (X) + w2f stress(X) + w3f access (X) + w4f deviation (X);

[0118]

[0119] g i (X) ≤ 0, i = 1, 2,..., m;

[0120] h j (X) = 0, j = 1, 2,..., n;

[0121] g position (X) = max{||P(X) - P boundary || - d safety , 0};

[0122] g orientation (X) = max{|θ i (X) - θ allowable，i | - δθ i , 0}, i = 1, 2, 3;

[0123] g stability (X) = max{CoS min - CoS(X), 0};

[0124] h interface (X) = ||P interface (X) - P interface，target ||;

[0125] Where L(X, λ) represents the Lagrangian function; X represents the optimization variable vector, including the position coordinates (x, y, z) and the attitude angles (θ x , θ y , θ z ); f(X) represents the objective function; g i (X) represents the inequality constraint function; h j (X) represents the equality constraint function; λ i and μ j represent the Lagrange multipliers; w1, w2, w3, w4 represent the weight coefficients of each term in the objective function, with a value range of 0 to 1, and satisfy f stability represents the stability evaluation function; N s represents the number of support points; F i (X) represents the actual force on the i-th support point; F ideal，i represents the ideal force on the i-th support point; f stress represents the stress evaluation function; N a represents the number of stress evaluation points; σ i(X) represents the actual stress at the i-th evaluation point; σ allowable，i represents the allowable stress at the i-th evaluation point; f access represents the interface accessibility evaluation function; N p represents the number of interface points; P i (X) represents the actual position of the i-th interface point; P interface，i represents the target position of the i-th interface point; d(·, ·) represents the distance function; f deviation represents the position deviation evaluation function; G(X) represents the actual position of the center of gravity; G ideal represents the ideal position of the center of gravity; w r，i represents the weight coefficient of the rotation deviation; g position represents the position constraint function; P(X) represents the set of outer contour points of the device at position X; P boundary represents the boundary limit; d safety represents the safety gap, with a value range of 50 - 100 mm; g orientation represents the attitude constraint function; θ allowable，i represents the allowable angle range; δθ i represents the angular tolerance, with a value range of 0.1° - 1°; g stability represents the stability constraint function; CoS(X) represents the stability coefficient; CoS min represents the minimum stability coefficient requirement, with a value range of 1.5 - 2.5; h interface represents the interface position constraint function; P interface (X) represents the actual interface position; P interface，target represents the interface target position. The iterative convergence accuracy of the augmented Lagrangian method is set to 10 -6 .

[0126] Step S08 involves the calculation of the installation position deviation value. Specifically, it is expressed as follows:

[0127]

[0128] ΔP i = p actual，i - p theoretical，i =(Δx i , Δy i , Δz i );

[0129]

[0130] ΔΘ i = θ actual，i - θ theoretical，i , i = 1, 2, 3;

[0131]

[0132] ΔP threshold = 0.05 mm;

[0133] ΔΘ threshold = 0.01°;

[0134] Wherein, P actual represents the set of actual measurement position points; N m represents the number of measurement points; p actual，i represents the actual position of the i-th measurement point; P theoretical represents the set of theoretical position points; p theoretical，i represents the theoretical position of the i-th measurement point; ΔP i represents the position deviation of the i-th measurement point; ΔP rms represents the root mean square value of the position deviation; ΔΘ i represents the angular deviation in three rotation directions; θ actual，i represents the actually measured angle; θ theoretical，i represents the theoretical angle; ΔΘ rms represents the root mean square value of the angular deviation; ΔP threshold represents the position deviation threshold; ΔΘ threshold represents the angular deviation threshold. When ΔP rms < ΔP threshold and ΔΘ rms < ΔΘ threshold it is considered that the installation position meets the accuracy requirements and can be fixedly installed.

[0135] The position monitoring and acceptance criteria involved in step S09 under the equipment operating state are specifically as follows:

[0136] ΔP operation = P operation - P initial = (Δx op , Δy op , Δz op );

[0137] ΔΘ operation = Θ operation - Θ initial = (Δθ x，op , Δθ y，op , Δθ z，op );

[0138]

[0139] E position = max{||ΔP operation ||, δ settlement};

[0140] E angle = ||ΔΘoperation ||;

[0141]

[0142] Q installation = w p ·f p (E position ) + w a ·f a (E angle ) + w v ·f v (E vibration );

[0143] Where, ΔP operation represents the position change vector under the operating state of the device; P operation represents the position coordinate under the operating state of the device; P initial represents the initial installation position coordinate; ΔΘ operation represents the angle change vector under the operating state of the device; Θ operation represents the angle under the operating state of the device; Θ initial represents the initial installation angle; δ settlement represents the foundation settlement, in millimeters; N b represents the number of foundation measuring points; z bi represents the current elevation of the i-th foundation measuring point; z bi，initial represents the initial elevation of the i-th foundation measuring point; A vibration represents the root mean square value of the vibration amplitude, in millimeters or micrometers; T represents the measurement duration, in seconds; a(t) represents the vibration acceleration time domain signal, in m / s 2 ; E position represents the position error evaluation index; E angle represents the angle error evaluation index; E vibration represents the vibration amplitude ratio; A design represents the design limit vibration amplitude; Q installation represents the comprehensive installation quality score; w p 、w a 、w v represent the weight coefficients, with a value range of 0 to 1, and satisfying w p + w a + w v = 1; f p 、f a 、f v represent the scoring mapping functions of each error index. The standard for judging whether the installation accuracy meets the requirements is E position < 0.1mm, E angle < 0.05°, E vibration < 0.8.

[0144] Specifically, the principle of the present invention is as follows: The technical principle of the present invention is based on the cross - integration of multiple disciplines such as precision metrology, vector analysis, thermodynamics, optimization theory, and computer simulation, and a complete set of precise positioning and installation methods for electromechanical equipment in complex areas is constructed.

[0145] First of all, the present invention uses a multi - dimensional locator to scan the complex area in all directions to obtain three - dimensional spatial point cloud data. These data accurately describe the geometric characteristics of the installation environment and provide a benchmark for subsequent positioning. The initial positioning vector database constructed based on the point cloud data, which includes position vectors and direction vectors, can comprehensively represent the spatial relationship between the electromechanical equipment and the surrounding environment, solving the problem of inaccurate environmental description in traditional technologies.

[0146] Secondly, the present invention introduces the concepts of spatial compensation variation vectors and thermal expansion variation vectors. Actual measurement data is obtained through a coordinate measuring arm and a laser tracking interferometer, and a comprehensive variation vector is calculated. This process essentially establishes a dynamic error compensation model, which can calculate the position offset caused by environmental changes in real time, and mathematically solves the problem that traditional methods cannot accurately compensate for the influence of environmental factors.

[0147] Thirdly, the present invention uses a spatial region overlap matrix and a spatial region idle matrix to describe the installation space state, combines the traveling salesman problem algorithm to determine the optimal installation path, and applies the Lagrange multiplier constraint optimization equations to determine the optimal installation points. This optimization system transforms the electromechanical equipment installation problem into an optimization problem under multiple constraints, and solves the optimal installation scheme through a mathematical model, theoretically ensuring the optimality of the installation position.

[0148] Finally, the present invention uses high - precision measurement sensors to monitor the installation process in real time, and combines a five - axis adjustment platform for fine positioning to form a closed - loop control system. This real - time feedback mechanism ensures the precision control during the installation process. The fixed installation is only completed when the deviation value is less than the preset threshold, ensuring the installation precision from the perspective of engineering practice.

[0149] In summary, the present invention obtains basic data through precision measurement technology, establishes an error compensation model using vector analysis, solves the optimal installation scheme by applying optimization theory, and forms a closed - loop control by combining real - time feedback, thereby realizing the high - precision positioning and installation of electromechanical equipment in complex areas and effectively solving the core technical problems.

[0150] The following provides a specific Embodiment 1 of the present invention. The specific implementation manners of each step in this Embodiment 1 are described in detail as follows.

[0151] The specific implementation of step S01 is to perform an all-round scanning measurement on the complex area through a multi-dimensional locator, obtain spatial point cloud data, and construct an initial positioning vector database. First, start the multi-dimensional locator, set the scanning resolution to 0.5 mm, and the scanning range covers the entire installation area; then perform an all-round scan. Based on the principle of laser triangulation, measure the position coordinates of spatial points. The coordinate calculation formula for each spatial point is:

[0152] P i =(x i , y i , z i )=(d i ·sinθ i ·cosφ i , d i ·sinθ i ·sinφ i , d i ·cosθ i );

[0153] In the formula, P i represents the three-dimensional coordinates of the i-th spatial point; d i represents the distance value measured by the laser ranging system, with the unit of millimeters; θ i represents the vertical angle value, obtained by measuring with a vertical angle encoder, with the unit of radians; φ i represents the horizontal angle value, obtained by measuring with a horizontal angle encoder, with the unit of radians. Then, use the nearest neighbor point clustering algorithm to perform noise reduction processing on the original point cloud data, filtering out outliers and noise points. The calculation process is:

[0154]

[0155] C i ={P j |D ij <δ, j = 1, 2,..., n};

[0156] O i ={P i ||C i |<τ};

[0157] In the formula, D ij represents the Euclidean distance between point P i and point P j ; C i represents the clustering result centered on point P i ; δ represents the clustering radius threshold, with a value range of 2 - 5 mm; |C i | represents the number of points included in the cluster C i ; τ represents the noise point determination threshold, with a value range of 5 - 10; Oi Represents the set of identified outliers. Subsequently, the Iterative Closest Point (ICP) algorithm is applied to register the point cloud data to eliminate the coordinate system differences caused by scanning at different stations. The objective function and transformation matrix are as follows:

[0158]

[0159] In the formula, E(R, t) represents the error function of point cloud registration; N p represents the number of point pairs participating in the registration; P i represents a point in the target point cloud; Q i represents the closest point in the source point cloud corresponding to P i ; R represents the rotation matrix, which is a 3×3 matrix; t represents the translation vector, which is a 3×1 vector; T represents the homogeneous transformation matrix, which is a 4×4 matrix; r ij represents the elements of the rotation matrix; t x , t y , t z represent the three components of the translation vector. Finally, an initial positioning vector database is constructed based on the octree space partitioning algorithm. The spatial point cloud data is converted into a set of directed vectors to determine the installation reference position of the electromechanical equipment. The specific calculation is as follows:

[0160] V ijk = {(x, y, z)|x min + iΔx ≤ x < x min + (i + 1)Δx, y min + jΔy ≤ y < y min + (j + 1)Δy, z min + kΔz ≤ z < z min + (k + 1)Δz};

[0161]

[0162] In the formula, V ijk represents a voxel in the octree; i, j, k represent the indices of the voxel; Δx, Δy, Δz represent the sizes of the voxels, and the value range is 10 - 50 mm; x min , y min , z min represent the minimum coordinate values of the point cloud data; D v represents the initial positioning vector database; p i represents a point in the point cloud; represents the normal vector at point p i ; N(p i ) represents the neighborhood point set of point p i ; |N(p i)| represents the size of the neighborhood point set. The purpose of this step is to obtain the precise three-dimensional space information of the complex area, providing basic data support for subsequent positioning and installation, with the positioning accuracy controlled within ±1mm.

[0163] The specific implementation of step S02 is to determine the key parameters and installation coordinate matrix according to the technical specifications of the electromechanical equipment. First, consult the technical documents of the electromechanical equipment to obtain parameters such as the equipment's external dimensions, weight distribution, and fixed point positions; then, based on the centroid calculation principle, apply the finite element analysis method to determine the centroid coordinates of the electromechanical equipment. The calculation formula is:

[0164]

[0165] In the formula, G represents the centroid coordinates of the electromechanical equipment; x G , y G , z G represent the three coordinate components of the centroid; M represents the total mass of the equipment, in kilograms; N c represents the number of equipment components; m i represents the mass of the i-th component, in kilograms; x i , y i , z i represent the centroid coordinates of the i-th component. Then, according to the equipment installation requirements, determine the relative coordinates of the equipment's fixed points. Usually, 4 to 8 fixed points are selected to ensure stability. The fixed point coordinate set is:

[0166]

[0167] In the formula, F represents the fixed point coordinate set; N f represents the number of fixed points; F i represents the coordinates of the i-th fixed point. Subsequently, combine the centroid coordinates and the fixed point coordinates to form the installation coordinate matrix, which contains the coordinates of all key points to be located:

[0168]

[0169] In the formula, A represents the installation coordinate matrix, which contains the centroid coordinates and all fixed point coordinates. Finally, according to the actual situation of the installation surface, set the correction parameters, including the elevation adjustment amount, horizontal displacement amount, and rotation angle. The corrected installation coordinate matrix is:

[0170] A modified = A·R(α, β, γ)+T(Δx, Δy, Δz);

[0171] In the formula, A modifiedIt represents the installation coordinate matrix adjusted by the corrected parameters; R(α, β, γ) represents the rotation matrix, which is determined by the rotation angles α, β, and γ; T(Δx, Δy, Δz) represents the translation matrix, which is determined by the translation amounts Δx, Δy, and Δz. The set threshold for the corrected parameters is as follows: elevation adjustment amount Δz: ±5 mm, horizontal displacement amounts Δx, Δy: ±3 mm, rotation angles α, β, γ: ±0.5°. The function of this step is to determine the precise coordinates of the theoretical installation position of the electromechanical equipment, providing a data basis for subsequent actual installation.

[0172] The specific implementation method of step S03 is to use a coordinate measuring arm to mark and measure control points, generating a spatial compensation variation vector. First, select positions with obvious features and uniform distribution in the complex area to set control points. The number of control points is not less than 12, and the spacing is 2 - 5 m; then use the coordinate measuring arm to measure the three-dimensional coordinates of these control points, with a measurement accuracy reaching ±0.02 mm. The control point coordinate set is expressed as:

[0173]

[0174] In the formula, CP represents the set of theoretical coordinates of the control points; N cp represents the number of control points; CP i represents the theoretical coordinates of the i-th control point; CP actual represents the set of actual measured coordinates of the control points; CP actual，i represents the actual measured coordinates of the i-th control point. Then, compare the actual coordinates obtained from the measurement with the theoretical coordinates on the design drawing, and calculate the coordinate deviation value of each control point:

[0175] ΔCP i = CP actual，i - CP i =(Δx i , Δy i , Δz i );

[0176] In the formula, ΔCP i represents the coordinate deviation of the i-th control point. Subsequently, use the least squares fitting algorithm to calculate the spatial compensation variation vector based on the obtained deviation values. The solution objective is:

[0177]

[0178] ΔT(P)= R Δ ·P + T Δ - P;

[0179] R Δ = R z (δγ)·R y (δβ)·R x(δα);

[0180] T Δ = (δx, δy, δz);

[0181] where ΔT represents the spatial transformation function; ||·|| represents the Euclidean distance norm; R Δ represents the rotation correction matrix; R x and R y and R z respectively represent the rotation matrices about the x-axis, y-axis, and z-axis; δα, δβ, and δγ represent the rotation angles in three directions, with the unit of radian; T Δ represents the translation correction vector; δx, δy, and δz represent the translation amounts in three directions, with the unit of millimeter. Finally, the spatial compensation variation vector is obtained:

[0182]

[0183] where represents the spatial compensation variation vector, which includes three translation components and three rotation components. The purpose of this step is to obtain the deviation information between the actual space and the theoretical space, generate the spatial compensation variation vector, and provide a correction basis for subsequent installation and positioning.

[0184] The specific implementation of step S04 is to measure the structural deformation caused by the change in ambient temperature and calculate the thermal expansion variation vector and the comprehensive variation vector. First, set up a laser tracking interferometer and set multiple measurement target points in the complex area; then record the ambient reference temperature T0 and the real-time temperature T, with the temperature monitoring accuracy reaching ±0.1 °C; then use the laser tracking interferometer to continuously measure the changes in the positions of the target points at different temperatures, with the measurement frequency of 10 times per hour; subsequently, according to the linear thermal expansion theory, calculate the thermal expansion variation vector:

[0185] ΔL i = L 0i ·α i ·(T - T0);

[0186]

[0187] where ΔL i represents the thermal expansion displacement of the i-th measurement point, with the unit of millimeter; L 0i represents the reference length of the i-th measurement point, with the unit of millimeter; α i represents the linear thermal expansion coefficient of the material, with the unit of 1 / °C, and the value range of common materials is 1×10 -6 ~ 25×10 -6 / °C; represents the direction vector of the i-th measurement point, which is a unit vector; The thermal expansion variation vector of the $i$-th measurement point; $N$ t represents the number of thermal expansion measurement points; represents the average thermal expansion variation vector. Finally, the spatial compensation variation vector and the thermal expansion variation vector are synthesized through the vector superposition principle to form a comprehensive variation vector:

[0188]

[0189] In the formula, represents the comprehensive variation vector; represents the cross term of the spatial compensation variation vector and the thermal expansion variation vector; $k$ represents the cross term coefficient, and its value range is $0.01$ to $0.1$. The purpose of this step is to compensate for the positioning error caused by temperature changes and improve the installation accuracy. The effective temperature range for thermal expansion compensation is $15$ to $35^{\circ}C$.

[0190] The specific implementation method of step $S05$ is to perform computer simulation on the installation environment based on the acquired data and determine the optimal installation path. First, the initial positioning vector database and the comprehensive variation vector are imported into the computer simulation system to construct a three-dimensional virtual installation environment; then, the installation start point and end point of the electromechanical equipment are set in the virtual environment, and at the same time, the positions of all necessary nodes and obstacles are marked; then, an improved traveling salesman problem algorithm is applied for path planning, and the mathematical model of the algorithm is as follows:

[0191] $D = \{d$ ij}$ n×n ;

[0192]

[0193] In the formula, $D$ represents the distance matrix; $d$ ij represents the weighted distance from node $i$ to node $j$; $x$ i , $y$ i , $z$ i represent the three-dimensional coordinates of node $i$; $\lambda$ represents the obstacle avoidance weight coefficient, and its value range is $10$ to $100$; $O$ ij represents the obstacle avoidance function of path $(i, j)$; $\pi$ represents the path permutation. This algorithm combines ant colony optimization and genetic algorithm. The key formula for the ant colony optimization part is:

[0194] $\tau$ ij $(t + 1)=(1-\rho)\cdot\tau$ ij $(t)+\Delta\tau$ ij ;

[0195]

[0196] $\eta$ ij $ = 1 / d$ ij ;

[0197] In the formula, τ ij (t) represents the pheromone concentration on path (i, j); ρ represents the pheromone decay coefficient, with a value of 0.8; Δτ ij represents the increment of pheromone on path (i, j); m represents the number of ants in the ant colony algorithm, with a value of 100; represents the increment of pheromone left by the k-th ant on path (i, j); Q represents the pheromone intensity coefficient, with a value range of 10 to 100; L k represents the total length of the path constructed by the k-th ant; represents the probability that the k-th ant chooses to move from node i to node j; α represents the importance factor of pheromone, with a value range of 1 to 3; β represents the importance factor of heuristic information, with a value range of 2 to 5; allowed k represents the set of nodes that the k-th ant is allowed to visit; η ij represents the heuristic information of path (i, j). Subsequently, a dynamic simulation is carried out on the equipment transmission process along the planned path to identify the area where the comprehensive change vector changes significantly, that is, the critical area:

[0198] R = {r1, r2,..., r n};

[0199]

[0200] CR = {r i |ΔV comp (r i ) / ||r i - r i-1 || > ε};

[0201] In the formula, R represents the path sequence obtained by planning; ΔV comp (r i ) represents the change amount of the comprehensive change vector at path point r i relative to the previous point; CR represents the critical area of the comprehensive change vector change; ε represents the critical area determination threshold, with a value of 5% / m. The function of this step is to ensure the safe and efficient transmission process of the electromechanical equipment from the entrance to the installation position, and avoid collisions and unnecessary path extensions.

[0202] The specific implementation method of step S06 is to construct a spatial region matrix and calculate the optional installation area of the electromechanical equipment. First, the space meshing method is used to divide the installation space into cubic grid cells with a side length of 10 cm:

[0203] G ijk = {(x, y, z)|x min + iΔs ≤ x < x min + (i + 1)Δs, ymin +jΔs ≤ y < y min +(j + 1)Δs, z min +kΔs ≤ z < z min +(k + 1)Δs};

[0204] In the formula, G ijk represents a spatial grid cell; Δs represents the side length of the grid cell, with a value of 10 cm. Then, based on the spatial occupancy information in the initial positioning vector database, a spatial region overlap matrix is constructed:

[0205] M overlap ={o ijk} I×J×K ;

[0206]

[0207] In the formula, M overlap represents the spatial region overlap matrix; o ijk represents the spatial overlap degree of the grid cell G ijk ; S occupied represents the occupied spatial region; |G ijk | represents the volume of the grid cell G ijk ; |G ijk ∩S occupied | represents the intersection volume of the grid cell G ijk and the occupied space S occupied . Then, a spatial region free matrix is constructed:

[0208] M free ={f ijk} I×J×K ;

[0209]

[0210] In the formula, M free represents the spatial region free matrix; f ijk represents the occupancy status value of the grid cell G ijk ; o threshold represents the overlap degree threshold, with a value of 0.1, that is, 10%. Subsequently, combining the initial positioning vector database, the comprehensive change vector, and the spatial region overlap matrix, the optional installation area of the electromechanical equipment is calculated and generated by applying Boolean operations and spatial filtering algorithms:

[0211] A selectable ={G ijk | f ijk ≤ 0.5 and G ijk satisfies the continuity condition};

[0212]

[0213] In the formula, A selectable represents the optional area for the installation of electromechanical equipment; C continuity represents the continuity condition function; c threshold represents the continuity threshold, and the value range is 10 to 15. Finally, a visual recognition system is deployed to dynamically monitor the optional area, and a deep learning object detection algorithm is used to identify dynamic obstacles in the area in real time. The detection frequency is 30 frames per second, and the recognition accuracy is greater than 95%. The purpose of this step is to determine the available space range that meets the installation requirements and provide spatial constraint conditions for the selection of the optimal installation point.

[0214] The specific implementation method of step S07 is to apply the Lagrange multiplier constraint optimization equations to determine the optimal installation point and implement the installation. First, construct the Lagrange multiplier constraint optimization equations:

[0215]

[0216] X = (x, y, z, θ x , θ y , θ z );

[0217] In the formula, L(X, λ) represents the Lagrange function; X represents the optimization variable vector, including the position coordinates (x, y, z) and the attitude angles (θ x , θ y , θ z ); λ i and μ j represent the Lagrange multipliers. Among them, the objective function is:

[0218] f(X) = w1f stability (X) + w2f stress (X) + w3f access (X) + w4f deviation (X);

[0219]

[0220] In the formula, f(X) represents the objective function; w1, w2, w3, and w4 represent the weight coefficients of each item in the objective function, and the value range is 0 to 1, and they satisfy f stability represents the stability evaluation function; N s represents the number of support points; F i (X) represents the actual force on the i-th support point; F ideal，i represents the ideal force on the i-th support point; f stress represents the stress evaluation function; N a represents the number of stress evaluation points; σ i(X) represents the actual stress at the i-th evaluation point; σ allowable，i represents the allowable stress at the i-th evaluation point; f access represents the interface accessibility evaluation function; N p represents the number of interface points; P i (X) represents the actual position of the i-th interface point; P interface，i represents the target position of the i-th interface point; d(·, ·) represents the distance function; f deviation represents the position deviation evaluation function; G(X) represents the actual position of the center of gravity; G ideal represents the ideal position of the center of gravity;

[0221] w r，i represents the weight coefficient of the rotation deviation. The constraint functions include:

[0222] g i (X) ≤ 0, i = 1, 2,..., m;

[0223] h j (X) = 0, j = 1, 2,..., n;

[0224] g position (X) = max{||P(X) - P boundary || - d safety , 0};

[0225] g orientation (X) = max{|θ i (X) - θ allowable，i | - δθ i , 0}, i = 1, 2, 3;

[0226] g stability (X) = max{CoS min - CoS(X), 0};

[0227] h interface (X) = ||P interface (X) - P interface，target ||;

[0228] In the formula, g i (X) represents the inequality constraint function; h j (X) represents the equality constraint function; g position represents the position constraint function; P(X) represents the set of outer contour points of the device at position X; P boundary represents the boundary limit; d safety represents the safety gap, and the value range is 50 - 100 mm; g orientation represents the attitude constraint function; θ allowable，i represents the allowable angle range; δθ iRepresents the angular tolerance, with a value range of 0.1° to 1°; g stability Represents the stability constraint function; CoS(X) represents the stability coefficient; CoS min Represents the minimum stability coefficient requirement, with a value range of 1.5 to 2.5; h interface Represents the interface position constraint function; P interface (X) represents the actual interface position; P interface，target Represents the target interface position. Then input the relevant parameters, apply the augmented Lagrangian method to solve the optimization equations, and set the iterative convergence accuracy to 10 -6 ; Then determine the optimal installation points according to the solution results, and generate the positioning parameters for six degrees of freedom at the same time; Subsequently, call the air-floating auxiliary device, control the air-cushion pressure within 0.6 to 0.8 MPa, and smoothly transport the electromechanical equipment to the optional area; Finally, use the five-axis adjustment platform for fine positioning. The translation accuracy of the platform is ±0.005 mm, and the rotation accuracy is ±0.001°. Precisely adjust the translational amounts in three directions and the rotation angles in two directions of the equipment through the closed-loop control system until the theoretical optimal position is reached. The function of this step is to determine the optimal installation position of the electromechanical equipment and achieve precise transportation and positioning on the premise of meeting various constraint conditions.

[0229] The specific implementation of step S08 is to use a high-precision measurement sensor to continuously monitor the deviation value between the installation position and the theoretical position and complete the fixed installation. First, install optical reflection targets and displacement sensors at key positions of the electromechanical equipment; Then start the high-precision measurement system, including a laser tracker and an electronic level, to continuously monitor the actual position of the equipment, with a sampling frequency of 5 Hz; Then calculate the deviation value between the current position of the equipment and the theoretical optimal position in real time. The deviation value calculation formula is:

[0230]

[0231] ΔP i =p actual，i -p theoretical，i =(Δx i ,Δy i ,Δz i );

[0232]

[0233] ΔΘ i =θ actual，i -θ theoretical，i ,i=1,2,3;

[0234]

[0235] In the formula, P actual represents the set of actual measurement position points; N mRepresents the number of measurement points; p actual，i Represents the actual position of the i-th measurement point; P theoretical Represents the set of theoretical position points; p theoretical，i Represents the theoretical position of the i-th measurement point; ΔP i Represents the position deviation of the i-th measurement point; ΔP rms Represents the root mean square value of the position deviation; ΔΘ i Represents the angular deviation in three rotation directions; θ actual，i Represents the actually measured angle; θ theoretical，i Represents the theoretical angle; ΔΘ rms Represents the root mean square value of the angular deviation. Subsequently, based on the deviation values, real-time position correction is performed through a five-axis adjustment platform until the deviation values are less than the preset thresholds, and the thresholds are set as:

[0236] ΔP threshold = 0.05 mm;

[0237] ΔΘ threshold = 0.01°;

[0238] In the formula, ΔP threshold Represents the position deviation threshold; ΔΘ threshold Represents the angular deviation threshold. Finally, after meeting the preset accuracy requirements, the adjustment platform is locked, and the supporting fasteners are used for fixed installation according to the torque control method, and the torque control accuracy is ±2%. The purpose of this step is to ensure the high precision of the installation position of the electromechanical equipment, and through real-time monitoring and feedback adjustment, achieve precise positioning and stable installation.

[0239] The specific implementation of step S09 is to verify the installation accuracy and performance of the electromechanical equipment through running tests. First, conduct an unloaded running test on the installed electromechanical equipment, and record parameters such as vibration, noise, and temperature rise; then conduct a loaded running test, and the load is gradually increased from 25% to 100%, and the running time at each load point is not less than 30 minutes; then use precision measuring instruments to monitor the position changes of the equipment during operation, and the position change calculation formula is:

[0240] ΔP operation = P operation - P initial = (Δx op , Δy op , Δz op );

[0241] ΔΘ operation = Θ operation - Θ initial = (Δθ x，op , Δθ y，op , Δθ z，op );

[0242]

[0243] Wherein, ΔP operation represents the position change vector under the operating state of the device; P operation represents the position coordinate under the operating state of the device; P initial represents the initial installation position coordinate; ΔΘ operation represents the angle change vector under the operating state of the device; Θ operation represents the angle under the operating state of the device; Θ initial represents the initial installation angle; δ settlement represents the foundation settlement, in millimeters; N b represents the number of foundation measuring points; z bi represents the current elevation of the i-th foundation measuring point; z bi，initial represents the initial elevation of the i-th foundation measuring point. Subsequently, the vibration amplitude is calculated:

[0244]

[0245] Wherein, A vibration represents the root mean square value of the vibration amplitude, in millimeters or micrometers; T represents the measurement duration, in seconds; a(t) represents the vibration acceleration time-domain signal, in m / s 2 . Then, the test data is compared and analyzed with the design requirements to determine whether the device positioning and installation accuracy meets the requirements:

[0246] E position = max{||ΔP operation ||, δ settlement};

[0247] E angle = ||ΔΘ operation ||;

[0248]

[0249] Q installation = w p · f p (E position ) + w a · f a (E angle ) + w v · f v (E vibration );

[0250] Wherein, E position represents the position error evaluation index; E angle represents the angle error evaluation index; E vibration represents the vibration amplitude ratio; A designRepresents the vibration amplitude of the design limit value; Q installation Represents the comprehensive score of the installation quality; w p 、w a 、w v Represents the weight coefficient, with a value range of 0 to 1, and satisfies w p +w a +w v =1; f p 、f a 、f v Represents the scoring mapping function of each error index. The standard for judging whether the installation accuracy meets the requirements is E position <0.1mm, E angle <0.05°, E vibration <0.8. Finally, an installation quality acceptance report is generated according to the test results, recording various key parameters and test data. The function of this step is to verify the installation quality of the electromechanical equipment through actual operation tests, ensuring that the accuracy and performance of the equipment under working conditions meet the design requirements.

[0251] To better understand and implement the present invention, the following provides Example 2 of a specific application scenario of the present invention: During the first-phase expansion project of a nuclear power plant, 4 steam generators need to be installed in the secondary circuit building. Each steam generator weighs 320 tons, has a height of 11.2m, and a diameter of 4.5m, and needs to be accurately positioned and installed in a complex area with dense pipelines and equipment. Since multiple interfaces such as the steam generator and the main pump, main steam pipeline, and feed water system need to be strictly aligned, and the installation position space is limited, the traditional lifting and hoisting method is difficult to meet the positioning accuracy requirements. The researchers decided to adopt the precise positioning and installation method of electromechanical equipment in complex areas of the present invention for implementation.

[0252] First, execute step S01, and use a multi-dimensional locator to perform a full-range scanning measurement on the installation area in the secondary circuit building. The model of the multi-dimensional locator used is MDL-5000, with a laser ranging accuracy of ±0.3mm and an angle measurement accuracy of ±0.0005°. 8 scanning stations are set in the building, covering an installation area of about 1200m 2 After about 4 hours of scanning, the original point cloud data of 280 million spatial points is obtained. Noise reduction processing is performed through the nearest neighbor point clustering algorithm, setting the clustering radius threshold δ to 3mm and the noise point determination threshold τ to 8, filtering out about 2% of the outlier points and noise points. Then, the iterative closest point algorithm is applied to register the point cloud data of different stations. After 35 iterations, the registration error converges to within 0.7mm. Finally, an initial positioning vector database is constructed based on the octree space division algorithm, with the voxel size set to 25mm, generating about 2.3 million sets of directed vectors as the installation benchmark.

[0253] In step S02, the researchers determined the key parameters and the installation coordinate matrix according to the technical specifications of the steam generator. By referring to the technical documents, the detailed parameters of the equipment were obtained. The center of gravity coordinates were calculated to be (0, 0, 4.28) m (relative to the center point at the bottom of the equipment) using the finite element analysis method. According to the installation requirements, the coordinates of 8 fixed points were determined, which were distributed around the bottom support ring of the steam generator. The combination of the center of gravity coordinates and the fixed point coordinates formed the installation coordinate matrix as shown in Table 1:

[0254] Table 1 Steam Generator Installation Coordinate Matrix (unit: m)

[0255]

[0256]

[0257] According to the actual situation of the installation surface, the correction parameters were set as follows: elevation adjustment amount Δz = +2.5 mm, horizontal displacement amounts Δx = -1.2 mm, Δy = +0.8 mm, rotation angles α = +0.12°, β = -0.08°, γ = +0.03°.

[0258] In step S03, the researchers used a coordinate measuring arm to mark and measure the control points, generating a spatial compensation variation vector. The model of the coordinate measuring arm used was CMA - 7520, with a measurement accuracy of ±0.015 mm and an effective measurement range of 2.5 m. 16 control points were set in the installation area, and the distance between the control points was 3 - 4 m. The actual coordinates of the control points were obtained through measurement and compared with the designed theoretical coordinates. The calculated coordinate deviation values are shown in Table 2 (partial data):

[0259] Table 2 Control Point Coordinate Deviation Values (unit: mm)

[0260] Control Point Number Δx Δy Δz CP01 +2.15 -1.87 +3.42 CP02 +2.28 -1.95 +3.56 CP03 +2.42 -2.08 +3.62 CP04 +2.31 -2.12 +3.58 CP05 +1.98 -1.76 +3.45 … … … … CP16 +2.05 -1.82 +3.39

[0261] Using the least - squares fitting algorithm, the spatial compensation variation vector was calculated based on the above data

[0262] In step S04, the researchers measured the structural deformation caused by the environmental temperature change and calculated the thermal expansion variation vector. The model of the laser tracking interferometer used was LTI - 3000, with a measurement accuracy of ±5 μm + 2 μm / m. 12 measurement target points were set in the installation area, and the reference temperature T0 = 20.0 °C was recorded. The real - time temperature fluctuated within the range of 19.2 - 22.8 °C. Some of the thermal expansion data obtained through continuous measurement are shown in Table 3:

[0263] Table 3 Thermal Expansion Displacement Measurement Data (partial)

[0264]

[0265] The average thermal expansion variation vector is obtained by calculation The space compensation variation vector and the thermal expansion variation vector are superimposed, considering the cross-term coefficient k = 0.05, to obtain the comprehensive variation vector

[0266] In step S05, the researchers conducted a computer simulation of the installation environment and determined the optimal installation path. The initial positioning vector database and the comprehensive variation vector were imported into the computer simulation system to construct a three-dimensional virtual installation environment. The improved traveling salesman problem algorithm was used for path planning, with the pheromone decay coefficient ρ set to 0.8, the population size set to 100, and the number of iterations set to 500. The optimal path from the entrance to the installation location was obtained, with a total length of 87.6 m, which is 6.8% longer than the theoretical shortest path. Three critical regions of the comprehensive variation vector change were identified through dynamic simulation, and the critical region determination threshold ε was set to 5% / m. These critical regions are mainly located in areas with large temperature gradient changes and positions with obvious structural support deformations

[0267] In step S06, the researchers constructed a spatial region matrix and calculated the optional installation areas for the electro-mechanical equipment. The installation space was divided into cubic grid cells with a side length of 10 cm, generating approximately 7.8 million grid cells in total. The spatial region overlap matrix constructed based on the initial positioning vector database shows that approximately 68% of the space is occupied by surrounding equipment and pipelines. The overlap degree threshold O threshold is set to 0.1, and the optional installation areas for the electro-mechanical equipment are calculated through the spatial filtering algorithm, with the continuity threshold c threshold set to 12. The volume of the finally determined optional area is approximately 85 m 3 , which is approximately 180% of the volume of the steam generator, providing sufficient adjustment space for the installation operation. The deployed visual recognition system can real-time monitor dynamic obstacles in the area, with an identification accuracy of 97.8%

[0268] In step S07, the researchers determined the optimal installation points by applying the Lagrange multiplier constraint optimization equations. The target function weight coefficients are set as w1 = 0.35, w2 = 0.25, w3 = 0.3, and w4 = 0.1. The constraint conditions include: the safety gap d safety = 75 mm, the angular tolerance δθ i = 0.5°, and the minimum stability coefficient requirement CoS min = 2.0. The augmented Lagrangian method is applied to solve the optimization equations, and the iterative convergence accuracy is set to 10 -6, the optimal installation position is obtained after 28 iterations. The air-floating auxiliary device is called, and the air-cushion pressure is controlled at 0.72 MPa, and the 320-ton steam generator is smoothly transported to the optional area. The five-axis adjustment platform is used for fine positioning, realizing position control with sub-millimeter-level accuracy.

[0269] In step S08, the researchers used high-precision measurement sensors to continuously monitor the deviation value between the installation position and the theoretical position. Optical reflection targets and displacement sensors were installed at 8 key positions of the steam generator, and continuous monitoring was carried out through a high-precision measurement system with a sampling frequency of 5 Hz. After multiple adjustments, the root mean square value of the position deviation ΔP rms dropped to 0.042 mm, and the root mean square value of the angle deviation ΔΘ rms dropped to 0.008°, both of which were less than the preset thresholds (the position deviation threshold ΔP threshold = 0.05 mm, and the angle deviation threshold ΔΘ threshold = 0.01°). After meeting the accuracy requirements, the supporting fasteners were used for fixed installation according to the torque control method, and the torque control accuracy was ±1.5%.

[0270] Finally, in step S09, the researchers verified the installation accuracy and performance of the steam generator through running tests. An unloaded running test for 48 hours and a loaded running test for 72 hours were carried out, and the load was gradually increased from 25% to 100%. The measurement results showed that the maximum value of the position change vector ΔP operation under the operating state of the equipment was 0.082 mm, the maximum value of the angle change vector ΔΘ operation was 0.038°, the foundation settlement δ settlement was 0.035 mm, and the vibration amplitude A vibration was 0.068 mm, only 72% of the design limit. The calculated position error evaluation index E position = 0.082 mm, the angle error evaluation index E angle = 0.038°, and the vibration amplitude ratio E vibration = 0.72, all meeting the requirements of the acceptance standards.

[0271] Traditional nuclear power equipment installation methods mainly rely on large-scale lifting equipment for positioning through manual measurement and empirical judgment. It is difficult to consider both spatial compensation and thermal expansion effects simultaneously. The positioning accuracy is usually around ±3 mm, and multiple trial installations and adjustments are required, taking as long as 2 to 3 weeks. In contrast, the precise positioning and installation method for electromechanical equipment in complex areas adopted in the present invention obtains accurate spatial data through a multi-dimensional locator. By comprehensively considering the spatial compensation variation vector and the thermal expansion variation vector, the Lagrange multiplier constraint optimization algorithm is applied to determine the optimal installation points, improving the positioning accuracy to ±0.05 mm. At the same time, the installation time is shortened to 5 days, greatly enhancing the installation efficiency. In addition, traditional methods cannot effectively address the problems of obstacle avoidance in complex environments and operation in narrow spaces. However, the present invention optimizes the path through the traveling salesman problem algorithm and combines an air-floating auxiliary device and a five-axis adjustment platform, enabling precise positioning in complex environments with dense pipelines and equipment, reducing the installation risk, and improving the safety and reliability of nuclear power equipment installation.

[0272] It should be noted that the detailed explanations of the variables involved in the present invention are shown in Tables 4, 5, 6, and 7 below.

[0273] Table 4 Variable Explanation Table (Part 1)

[0274]

[0275]

[0276] Table 5 Variable Explanation Table (Part 2)

[0277]

[0278]

[0279] Table 6 Variable Explanation Table (Part 3)

[0280]

[0281] Table 7 Variable Explanation Table (Part 4)

[0282]

[0283]

[0284] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention.

Claims

1. A precise positioning and installation method for electromechanical equipment in complex areas, characterized in that, Including: Use a multi-dimensional locator to conduct an all-round scan of a complex area, obtain the three-dimensional spatial point cloud data of the complex area, and construct an initial positioning vector database; determine the installation coordinate matrix according to the technical specifications of the electromechanical equipment; use a coordinate measuring arm to mark the control points and generate a spatial compensation variation vector; measure the structural deformation caused by environmental temperature changes through a laser tracking interferometer, calculate the thermal expansion variation vector, and form a comprehensive variation vector; determine the optimal installation path of the electromechanical equipment based on the traveling salesman problem algorithm; construct a spatial region overlap matrix and a spatial region idle matrix, and calculate and generate the optional installation regions for the electromechanical equipment; Apply the Lagrange multiplier constraint optimization equations to determine the optimal installation points, and use a five-axis adjustment platform for fine-tuning positioning; use high-precision measurement sensors to continuously monitor the deviation value between the installation position and the theoretical position, and complete the fixed installation; verify that the installation accuracy meets the design requirements through running tests.

2. The precise positioning and installation method of electromechanical equipment in complex areas according to claim 1, characterized in that The multi-dimensional locator is composed of a laser ranging system, an angle encoder, a high-resolution imaging system, and a data processing unit, and has millimeter-level spatial positioning capabilities and three-dimensional modeling functions.

3. The precise positioning and installation method of electromechanical equipment in complex areas according to claim 2, characterized in that, The initial positioning vector refers to the three-dimensional vector dataset of the relationship between the theoretical installation position of the equipment and the surrounding environment obtained by the multi-dimensional locator before the installation of the electromechanical equipment, and includes two parts: the position vector and the direction vector.

4. The precise positioning and installation method of electromechanical equipment in complex areas according to claim 3, characterized in that The spatial compensation variation vector refers to the position and angle correction amounts required due to the deviation between the actual environment of the complex area and the theoretical design, and is expressed as the translation amount and the rotation amount in three-dimensional space.

5. The precise positioning and installation method of the electromechanical equipment in a complex area according to claim 4, characterized in that, The thermal expansion variation vector refers to the position offset caused by the thermal expansion or contraction of the structural material due to temperature changes, and is calculated by the product of the thermal expansion coefficient and the temperature difference.

6. The precise positioning and installation method of electromechanical equipment in complex areas according to claim 5, characterized in that, The comprehensive variation vector is the final positioning correction amount calculated by vector superposition of the spatial compensation variation vector and the thermal expansion variation vector, and is used to achieve precise installation positioning.

7. The precise positioning and installation method of the electromechanical equipment in the complex area according to claim 6, wherein The spatial region overlap matrix is a mathematical model that describes the degree of overlap between different spatial regions in the installation space, and is used to evaluate the spatial conflict between the installation position of the equipment and the surrounding equipment or structures, and is calculated by the spatial relationship between the elements in the initial positioning vector database.

8. The precise positioning and installation method for electromechanical equipment in complex areas according to claim 7, characterized in that, The spatial region idle matrix is a mathematical model that describes the availability of each region in the installation space, and is formed by dividing the entire installation space into grids and marking the occupancy status of each grid cell, and is used to quickly locate the idle space suitable for installation.

9. The precise positioning and installation method of electromechanical equipment in complex areas according to claim 8, characterized in that, The optional region refers to the spatial range that meets the installation accuracy requirements of the electromechanical equipment, and is jointly determined by the initial positioning vector, the comprehensive variation vector, and the spatial region idle matrix, and is expressed as a three-dimensional space tolerance region.

10. The precise positioning and installation method of electromechanical equipment in complex areas according to claim 9, characterized in that, The Lagrange multiplier constraint optimization equations include an objective function equation, a position constraint equation, an attitude constraint equation, and a stability constraint equation; among them, the objective function equation is used to calculate the comprehensive evaluation value of the installation position of the electromechanical equipment, the position constraint equation is used to limit the spatial coordinate range of the installation of the electromechanical equipment, the attitude constraint equation is used to ensure that the installation angle of the electromechanical equipment meets the requirements, and the stability constraint equation is used to evaluate the structural stability of the installation position.

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