Transmission line tower assembly positioning and hoisting posture control method in desert environment

Abstract

The present invention provides a method for assembling, positioning, and controlling the lifting posture of a transmission line tower in a desert environment, which relates to the technical field of transmission engineering construction. The method comprises obtaining transmission line tower structural parameters and desert environmental parameters, wherein the tower structural parameters include tower height, center of gravity position, and segment connection dimensions, and the desert environmental parameters include geological conditions, wind speed, and wind direction; establishing a laser positioning reference system, including three laser emitting devices with angle and distance sensors; assembling and positioning tower segments, establishing spatial coordinates by projecting laser markings, and correcting positions using an adaptive algorithm; installing an inertial measurement unit; establishing a lifting posture control system, including a main boom crane, an auxiliary crane, and a tensioning device; during the lifting process, calculating the center of gravity offset based on the posture data, and controlling each device to achieve posture stability; and finally injecting a curing material into the tower base to complete the installation.

Description

Technical Field

[0001] The present invention relates to a power transmission engineering construction technology, and in particular to a method for assembling, positioning and hoisting posture control of a power transmission line tower in a desert environment. Background Art

[0002] Traditional transmission line tower installation methods face many challenges in desert environments, such as complex geological conditions, harsh wind and sand environment, and difficult construction positioning, which seriously affect construction quality and efficiency.

[0003] The currently commonly used tower assembly and positioning methods mainly rely on manual measurement and experience-based judgment, which is prone to cumulative errors. In addition, measurement accuracy is difficult to guarantee under severe weather conditions, increasing construction risks.

[0004] Existing tower hoisting technology lacks real-time posture monitoring and dynamic control capabilities, making it difficult to cope with the frequent strong winds in desert areas and easily causing safety hazards during the hoisting process. Summary of the Invention

[0005] The embodiments of the present invention provide a method for assembling, positioning and hoisting posture control of a transmission line tower in a desert environment, which can solve the problems in the prior art.

[0006] According to a first aspect of the embodiments of the present invention,

[0007] Provides a method for assembling, positioning, and hoisting posture control of transmission line towers in desert environments, including:

[0008] Obtaining tower structural parameters and desert environmental parameters of the transmission line tower, wherein the tower structural parameters include tower height, tower center of gravity position, and tower segment connection structure dimensions; and the desert environmental parameters include geological conditions, wind speed, and wind direction;

[0009] Establishing a laser positioning reference system at the tower assembly site, the laser positioning reference system includes three laser emitting devices, each of the laser emitting devices is provided with an angle sensor and a distance sensor;

[0010] The laser positioning reference system is used to assemble and position the tower segments, a laser marking line is projected on the connecting surface of the tower segments by the laser emitting device, the spatial coordinates of the tower segments are established according to the real-time data of the angle sensor and the distance sensor, and the position of the tower segments is corrected by an adaptive iterative algorithm;

[0011] An inertial measurement unit is installed on the surface of the tower, wherein the inertial measurement unit includes an acceleration sensor and a gyroscope;

[0012] Establishing a hoisting attitude control system, the hoisting attitude control system includes a main boom crane, an auxiliary crane and a tensioning device;

[0013] During the hoisting process, based on the posture data collected by the inertial measurement unit, a dynamic tension compensation algorithm is used to calculate the center of gravity offset of the tower body, control the lifting torque of the main boom crane and the balancing torque of the auxiliary crane, and apply horizontal tension through the tensioning device to achieve posture stability control during the tower body hoisting process;

[0014] When the tower reaches the preset vertical position, quick-curing material is injected into the tower foundation connection to complete the tower installation.

[0015] In an optional embodiment,

[0016] The laser positioning reference system is used to assemble and position the tower segments, a laser marking line is projected on the connecting surface of the tower segments by the laser emitting device, the spatial coordinates of the tower segments are established according to the real-time data of the angle sensor and the distance sensor, and the position of the tower segments is corrected by an adaptive iterative algorithm, including:

[0017] A laser positioning reference system is set up at the tower assembly site, wherein the laser positioning reference system includes three laser emitting devices, each of which is provided with an angle sensor and a distance sensor;

[0018] Controlling the laser emitting device to project laser marking lines on the connecting surfaces of the tower segments to be assembled to form laser positioning reference marks;

[0019] The angle sensor and the distance sensor are used to collect the position information of the tower body segment, and the spatial coordinates of the tower body segment are established according to the position information;

[0020] Comparing the spatial coordinates of the tower body segment with the target coordinates of the preset assembly position to calculate the position deviation value;

[0021] Based on the position deviation value, an adaptive iterative algorithm is used to generate a position correction instruction, and the adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values ​​collected multiple times continuously;

[0022] The adjusting mechanism of the tower body segment is controlled according to the position correction instruction to adjust the position of the tower body segment in real time until the position deviation value is smaller than a preset threshold value, thereby completing the assembly positioning of the tower body segment.

[0023] In an optional embodiment,

[0024] Based on the position deviation value, an adaptive iterative algorithm is used to generate a position correction instruction, and the adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values ​​collected multiple times continuously, including:

[0025] Collecting real-time position data of the tower segments during assembly, and calculating a position deviation value between the real-time position data and a preset target position;

[0026] Based on the multiple position deviation values ​​collected continuously, a position deviation time series data set is established;

[0027] Calculating a change trend and a change rate of the position deviation based on the position deviation time series data set;

[0028] Based on the change trend and change rate, an adaptive iterative algorithm is used to dynamically generate correction parameters, wherein the correction parameters include a correction step size and a correction direction;

[0029] generating a position correction instruction according to the correction parameter, wherein the position correction instruction is used to control a position adjustment device of a tower segment;

[0030] After each execution of the position correction instruction, the position deviation value is re-collected and the position deviation time series data set is updated, and the correction parameters are continuously dynamically adjusted until the position deviation value is less than a preset threshold.

[0031] In an optional embodiment,

[0032] During the hoisting process, based on the posture data collected by the inertial measurement unit, a dynamic tension compensation algorithm is used to calculate the center of gravity offset of the tower body, the hoisting torque of the main boom crane and the balancing torque of the auxiliary crane are controlled, and horizontal tension is applied by the tensioning device to achieve posture stability control during the tower body hoisting process, including:

[0033] The inertial measurement unit (IMU) is installed on the surface of the tower to collect real-time attitude data of the tower during the hoisting process. The IMU includes an acceleration sensor and a gyroscope.

[0034] Calculating the inclination angle and angular velocity of the tower body in three-dimensional space based on the real-time posture data;

[0035] A dynamic tension compensation algorithm is used to process the tilt angle and angular velocity data to calculate the real-time offset of the tower body's center of gravity;

[0036] Calculating the lifting torque required by the main boom crane and the balancing torque required by the auxiliary crane based on the center of gravity offset;

[0037] Controlling the main boom crane and the auxiliary crane to adjust the forces according to the lifting moment and the balancing moment respectively;

[0038] Synchronously controlling the tensioning device to apply tension in the horizontal direction, wherein the magnitude and direction of the tension are adjusted in real time according to the center of gravity offset;

[0039] The lifting torque of the main boom crane, the balancing torque of the auxiliary crane and the horizontal tension of the tensioning device form a three-way force balance to achieve a stable posture of the tower body during the lifting process.

[0040] In an optional embodiment,

[0041] The dynamic tension compensation algorithm is used to process the tilt angle and angular velocity data to calculate the real-time offset of the tower body's center of gravity, including:

[0042] Obtain tower body tilt angle data and angular velocity data collected by the inertial measurement unit;

[0043] Establishing a tower body attitude data cache queue, and storing the continuously collected tilt angle data and angular velocity data in the attitude data cache queue;

[0044] A dynamic tension compensation algorithm is used to process the data in the posture data cache queue, and the dynamic tension compensation algorithm includes:

[0045] Calculating the projection trajectory of the tower body on the horizontal plane according to the tilt angle data;

[0046] Calculating the motion acceleration of the tower body based on the angular velocity data;

[0047] Combining the projection trajectory and motion acceleration, a dynamic prediction model of the tower body's center of gravity position is established;

[0048] Calculating the real-time offset of the tower body's center of gravity according to the dynamic prediction model, wherein the real-time offset includes a horizontal offset component and a vertical offset component;

[0049] The real-time offset is filtered to eliminate offset fluctuations caused by random disturbances.

[0050] In an optional embodiment,

[0051] Synchronously controlling the tensioning device to apply tension in the horizontal direction, wherein the magnitude and direction of the tension are adjusted in real time according to the center of gravity offset, includes:

[0052] receiving real-time offset data of the center of gravity of the tower body, wherein the real-time offset data includes a horizontal offset component and a vertical offset component;

[0053] Calculating a tension vector along a horizontal plane according to the horizontal offset component, wherein the tension vector includes a tension magnitude and a tension direction;

[0054] Three sets of tensioning devices are arranged around the tower body at intervals of 120 degrees, each set of the tensioning devices including a tension sensor and an electric winch;

[0055] Decomposing the tension vector into component forces corresponding to the three tensioning devices, and calculating the tension value required to be applied by each tensioning device;

[0056] Synchronously control the electric winches of the three tensioning devices so that the actual tension value applied by each tensioning device matches the calculated tension value;

[0057] The actual tension value of each group of tensioning devices is monitored in real time by the tension sensor, and when it is detected that the tension deviation exceeds a preset threshold, tension compensation adjustment is triggered;

[0058] According to the changing trend of the tower body's center of gravity offset, the tension value of each group of tensioning devices is dynamically adjusted to maintain the force balance of the tower body in the horizontal direction.

[0059] In an optional embodiment,

[0060] The actual tension value of each group of tensioning devices is monitored in real time by the tension sensor. When the tension deviation is detected to exceed a preset threshold, tension compensation adjustment is triggered, including:

[0061] The actual tension value of each tensioning device is collected by the tension sensors installed on the three tensioning devices;

[0062] Comparing the actual tension value with the target tension value of the tensioning device to calculate the tension deviation value;

[0063] Establishing a tension deviation monitoring queue, and storing the continuously collected tension deviation values ​​in the tension deviation monitoring queue;

[0064] Real-time detection of whether the deviation value in the tension deviation monitoring queue exceeds a preset threshold;

[0065] When it is detected that the tension deviation value exceeds a preset threshold, a tension compensation amount is calculated, wherein the tension compensation amount is determined based on the magnitude and duration of the tension deviation;

[0066] generating an adjustment instruction for the electric winch according to the tension compensation amount, and controlling the electric winch to perform tension compensation adjustment;

[0067] During the tension compensation adjustment process, the actual tension value is continuously monitored until the tension deviation value falls back to the preset threshold range.

[0068] According to a second aspect of the embodiments of the present invention,

[0069] An electronic device is provided, comprising:

[0070] processor;

[0071] a memory for storing processor-executable instructions;

[0072] The processor is configured to call the instructions stored in the memory to execute the aforementioned method.

[0073] According to a third aspect of the embodiments of the present invention,

[0074] A computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method described above is implemented.

[0075] The present invention realizes high-precision positioning and real-time attitude monitoring during the tower assembly process by establishing a laser positioning reference system and an inertial measurement unit, which significantly improves the accuracy and reliability of tower installation.

[0076] The present invention adopts an adaptive iterative algorithm and dynamic tension compensation technology, which can effectively cope with adverse factors in the desert environment and ensure the stability and safety of the tower body hoisting process.

[0077] The present invention integrates advanced technologies such as automated measurement, intelligent control and rapid curing, which greatly improves construction efficiency, reduces labor costs, and provides reliable technical support for the construction of power transmission lines in desert areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 The figure is a flow chart of a method for assembling, positioning and hoisting posture control of a transmission line tower in a desert environment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0079] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0080] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0081] Figure 1 FIG. 1 is a flow chart of a method for assembling, positioning and hoisting posture control of a transmission line tower in a desert environment according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0082] Obtaining tower structural parameters and desert environmental parameters of the transmission line tower, wherein the tower structural parameters include tower height, tower center of gravity position, and tower segment connection structure dimensions; and the desert environmental parameters include geological conditions, wind speed, and wind direction;

[0083] Establishing a laser positioning reference system at the tower assembly site, the laser positioning reference system includes three laser emitting devices, each of the laser emitting devices is provided with an angle sensor and a distance sensor;

[0084] The laser positioning reference system is used to assemble and position the tower segments, a laser marking line is projected on the connecting surface of the tower segments by the laser emitting device, the spatial coordinates of the tower segments are established according to the real-time data of the angle sensor and the distance sensor, and the position of the tower segments is corrected by an adaptive iterative algorithm;

[0085] An inertial measurement unit is installed on the surface of the tower, wherein the inertial measurement unit includes an acceleration sensor and a gyroscope;

[0086] Establishing a hoisting attitude control system, the hoisting attitude control system includes a main boom crane, an auxiliary crane and a tensioning device;

[0087] During the hoisting process, based on the posture data collected by the inertial measurement unit, a dynamic tension compensation algorithm is used to calculate the center of gravity offset of the tower body, control the lifting torque of the main boom crane and the balancing torque of the auxiliary crane, and apply horizontal tension through the tensioning device to achieve posture stability control during the tower body hoisting process;

[0088] When the tower reaches the preset vertical position, quick-curing material is injected into the tower foundation connection to complete the tower installation.

[0089] For example, when assembling and hoisting a transmission line tower in a desert environment, the tower's structural parameters are first measured, including a total height of 80 meters, a center of gravity 32 meters above the tower base, eight segments, each approximately 10 meters high, and a 2.5-meter diameter connecting flange. Desert environmental parameters are also measured, including a sandy soil bearing capacity of 120 kPa, a wind speed of 5.8 m / s, and a prevailing northwest wind direction.

[0090] A triangular laser positioning system was established at the tower assembly site. Three laser emitting devices were placed 15 meters from the center of the tower, forming a 120° triangle. Each laser emitting device is equipped with an angle sensor with an angular accuracy of 0.01° and a distance sensor with a distance accuracy of 1mm, enabling precise measurement within a range of 200 meters.

[0091] During assembly, a laser emitting device projects a red cross laser marking onto the connecting flange surface of the tower segment. Angle and distance sensors collect real-time position data of the tower segment to establish a spatial coordinate model of the segment. A PID adaptive iterative algorithm calculates the correction amount based on the deviation between the target and actual positions, controlling the hydraulic adjustment mechanism to fine-tune the segment position until the position deviation is less than 5mm and the angle deviation is less than 0.5°, completing the precise docking of the segment.

[0092] Then an inertial measurement unit is installed every 20 meters on the tower. Each measurement unit contains a three-axis accelerometer and a three-axis gyroscope with a sampling frequency of 100Hz, which can measure ±2g acceleration and ±200° / s angular velocity.

[0093] The hoisting system consists of a 250-ton main boom crane, a 100-ton auxiliary crane, and three sets of electric tensioning devices. During the hoisting process, an inertial measurement unit collects real-time tower attitude data. Using a Kalman filter algorithm, it fuses acceleration and angular velocity data to calculate the real-time offset of the tower's center of gravity. Based on this offset data, the control system automatically adjusts the lifting torque of the main boom crane and the balancing torque of the auxiliary crane. Simultaneously, horizontal tension is applied through the three tensioning devices to maintain the tower's attitude during the hoisting process, limiting the tilt angle to no more than 2°.

[0094] When the tower reaches the vertical position, the displacement sensor detects that the centering error between the tower base and the foundation is less than 10mm. The control system starts the grouting pump and injects fast-curing epoxy resin into the connection part of the tower foundation. The material cures in 30 minutes and the curing strength reaches 30MPa, thus completing the installation process of the entire tower.

[0095] In an optional embodiment,

[0096] The laser positioning reference system is used to assemble and position the tower segments, a laser marking line is projected on the connecting surface of the tower segments by the laser emitting device, the spatial coordinates of the tower segments are established according to the real-time data of the angle sensor and the distance sensor, and the position of the tower segments is corrected by an adaptive iterative algorithm, including:

[0097] A laser positioning reference system is set up at the tower assembly site, wherein the laser positioning reference system includes three laser emitting devices, each of which is provided with an angle sensor and a distance sensor;

[0098] Controlling the laser emitting device to project laser marking lines on the connecting surfaces of the tower segments to be assembled to form laser positioning reference marks;

[0099] The angle sensor and the distance sensor are used to collect the position information of the tower body segment, and the spatial coordinates of the tower body segment are established according to the position information;

[0100] Comparing the spatial coordinates of the tower body segment with the target coordinates of the preset assembly position to calculate the position deviation value;

[0101] Based on the position deviation value, an adaptive iterative algorithm is used to generate a position correction instruction, and the adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values ​​collected multiple times continuously;

[0102] The adjusting mechanism of the tower body segment is controlled according to the position correction instruction to adjust the position of the tower body segment in real time until the position deviation value is smaller than a preset threshold value, thereby completing the assembly positioning of the tower body segment.

[0103] At the tower assembly site, a three-dimensional coordinate system was established with the center of the tower base as the origin. Three laser positioning devices, designated points A, B, and C, were installed 15 meters from the tower base center at 120° intervals. Each laser positioning device is equipped with a high-precision servo motor-driven laser transmitter with a horizontal angle accuracy of 0.01° and a vertical angle accuracy of 0.01°. The accompanying distance sensor uses laser ranging technology with an accuracy of ±1mm and a range of 0-200 meters.

[0104] When tower segments need to be assembled, the control system simultaneously activates three laser emitting devices, projecting red cross laser markings onto the flange surfaces of the tower segments to be assembled. An angle sensor records the horizontal angle θh and vertical angle θv of the laser emission, while a distance sensor records the distance d to the target point. Based on the spherical coordinate conversion formula, the three sets of data (θh, θv, d) are converted into the position coordinates (x, y, z) and normal vectors (nx, ny, nz) of the tower segment connection surface in the three-dimensional coordinate system.

[0105] The system compares the calculated actual coordinates with the preset target coordinates to calculate the position deviation vector ΔP = (Δx, Δy, Δz) and the angular deviation vector ΔA = (Δθx, Δθy, Δθz). If the position deviation modulus |ΔP| exceeds 5 mm or the angular deviation modulus |ΔA| exceeds 0.5°, the position correction process is triggered.

[0106] The correction process utilizes an adaptive iterative algorithm. This algorithm uses the least squares method to fit the deviation trend based on five consecutive acquisitions of position deviation values, dynamically adjusting the correction step coefficient, k. Correction instructions are transmitted via a wireless communication module to the tower segment's hydraulic adjustment mechanism, which includes a six-degree-of-freedom adjustment platform capable of ±100mm translation and ±5° angular adjustment.

[0107] The hydraulic adjustment mechanism adjusts the tower segments according to the calibration instructions, while three laser positioning devices continuously track and monitor changes in segment position. The system executes a "measurement-calculation-calibration" cycle at a 10Hz frequency until the position deviation |ΔP| falls below the preset threshold of 3mm and the angular deviation |ΔA| falls below the preset threshold of 0.3°. At this point, the system issues an audible and visual signal, indicating that the final fixed connection of the segment has been completed.

[0108] In an optional embodiment,

[0109] Based on the position deviation value, an adaptive iterative algorithm is used to generate a position correction instruction, and the adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values ​​collected multiple times continuously, including:

[0110] Collecting real-time position data of the tower segments during assembly, and calculating a position deviation value between the real-time position data and a preset target position;

[0111] Based on the multiple position deviation values ​​collected continuously, a position deviation time series data set is established;

[0112] Calculating a change trend and a change rate of the position deviation based on the position deviation time series data set;

[0113] Based on the change trend and change rate, an adaptive iterative algorithm is used to dynamically generate correction parameters, wherein the correction parameters include a correction step size and a correction direction;

[0114] generating a position correction instruction according to the correction parameter, wherein the position correction instruction is used to control a position adjustment device of a tower segment;

[0115] After each execution of the position correction instruction, the position deviation value is re-collected and the position deviation time series data set is updated, and the correction parameters are continuously dynamically adjusted until the position deviation value is less than a preset threshold.

[0116] For example, the system activates three laser positioning devices, collecting real-time position data of tower segments at a sampling frequency of 100 Hz. Each data set contains spatial position coordinates and attitude angles. The system compares the collected real-time position data with the preset target position and calculates the position deviation vector and angle deviation vector.

[0117] The system maintains a 20-length position deviation time series data queue, which stores the position deviation vectors and angle deviation vectors collected for the last 20 times in chronological order. The queue is updated using a first-in-first-out (FIFO) method; each time new data enters the queue, the oldest data is removed.

[0118] Based on the deviation data in the queue, the system calculates the trend vector and rate of change vector of the position deviation. The trend vector is obtained by linear regression of the queue data and represents the deviation's changing trend in each direction. The rate of change vector is obtained by calculating the difference between adjacent data points and dividing it by the sampling interval and represents the speed of the deviation change.

[0119] The adaptive iterative algorithm dynamically calculates correction parameters, including the correction step length vector and the correction direction vector, based on the change trend vector and the change rate vector. The correction step length vector is equal to the adaptive coefficient multiplied by the modulus of the position deviation. The adaptive coefficient initially has a value of 0.5 and is dynamically adjusted based on the successive corrections, ranging from 0.2 to 0.8. The correction direction vector is equal to the normalized result of the position deviation vector plus the trend weight coefficient multiplied by the negative value of the change trend vector. The trend weight coefficient is set to 0.3.

[0120] A position correction command is generated based on the correction parameters and sent via industrial Ethernet to the hydraulic adjustment actuator of the tower segment. After receiving the command, the hydraulic actuator adjusts the position of the tower segment according to the specified step size and direction.

[0121] After the adjustment is complete, the system recollects the position data, calculates the new deviation value, and updates the deviation time series data queue. If the new deviation value is less than 3mm and the angle deviation is less than 0.3°, the target position is determined to have been reached and the calibration process ends. Otherwise, the calibration parameters are recalculated based on the new deviation data and the calibration process continues.

[0122] During the calibration process, if the deviation value does not decrease significantly after 5 consecutive calibrations (the reduction is less than 10%), the system will adjust the value of the adaptive coefficient: if the deviation increases, the coefficient value will be reduced; if the deviation decreases but the speed is too slow, the coefficient value will be increased to improve the calibration efficiency.

[0123] In an optional embodiment,

[0124] During the hoisting process, based on the posture data collected by the inertial measurement unit, a dynamic tension compensation algorithm is used to calculate the center of gravity offset of the tower body, the hoisting torque of the main boom crane and the balancing torque of the auxiliary crane are controlled, and horizontal tension is applied by the tensioning device to achieve posture stability control during the tower body hoisting process, including:

[0125] The inertial measurement unit (IMU) is installed on the surface of the tower to collect real-time attitude data of the tower during the hoisting process. The IMU includes an acceleration sensor and a gyroscope.

[0126] Calculating the inclination angle and angular velocity of the tower body in three-dimensional space based on the real-time posture data;

[0127] A dynamic tension compensation algorithm is used to process the tilt angle and angular velocity data to calculate the real-time offset of the tower body's center of gravity;

[0128] Calculating the lifting torque required by the main boom crane and the balancing torque required by the auxiliary crane based on the center of gravity offset;

[0129] Controlling the main boom crane and the auxiliary crane to adjust the forces according to the lifting moment and the balancing moment respectively;

[0130] Synchronously controlling the tensioning device to apply tension in the horizontal direction, wherein the magnitude and direction of the tension are adjusted in real time according to the center of gravity offset;

[0131] The lifting torque of the main boom crane, the balancing torque of the auxiliary crane and the horizontal tension of the tensioning device form a three-way force balance to achieve a stable posture of the tower body during the lifting process.

[0132] For example, five inertial measurement units (IMUs) are installed every 15 meters along the tower's surface. Each IMU contains a three-axis accelerometer (range ±2g, accuracy 0.001g) and a three-axis gyroscope (range ±200° / s, accuracy 0.01° / s), sampling at 200Hz. Data is transmitted in real time to a central control system via an industrial-grade wireless network.

[0133] The central control system receives attitude data from each inertial measurement unit and uses a data fusion algorithm to calculate the tower's tilt angle and angular velocity in three-dimensional space. The tilt angle includes the tower's tilt angle in the X and Y axes, as well as its rotation angle around its own axis; the angular velocity represents the angular velocity in the corresponding direction.

[0134] The control system processes attitude data using a dynamic tension compensation algorithm. Based on the tower's dynamic model, this algorithm simplifies the tower into a multi-segment flexible body with variable mass, taking into account the combined effects of wind loads, inertia, and external tension. The system calculates the three-dimensional offset of the tower's center of gravity based on the real-time calculated tilt angle and angular velocity, combined with pre-input tower mass distribution and stiffness parameters.

[0135] Based on the center of gravity offset, the system calculates the required lifting torque for the main boom crane and the balancing torque for the auxiliary crane. The lifting torque is equal to the tower mass multiplied by the acceleration due to gravity, plus the proportional coefficient multiplied by the vertical center of gravity offset, plus the differential coefficient multiplied by the vertical angular velocity. The balancing torque is equal to the balancing torque coefficient multiplied by the modulus of the horizontal center of gravity offset.

[0136] The control system sends the calculated torque commands via the CAN bus to the electro-hydraulic proportional control systems of the main boom crane and auxiliary crane. The main boom crane adjusts the hydraulic system's output pressure based on the lifting torque to control the hook's lifting speed and lifting force. The auxiliary crane adjusts the tension of the cable based on the balancing torque to provide horizontal balancing force on the tower.

[0137] Simultaneously, the system controls three sets of tensioning devices to apply horizontal tension. These devices are evenly spaced around the tower, spaced 120° apart. Each set includes an electric winch, a tension sensor, and a guide pulley. The system calculates the required horizontal tension vector based on the horizontal component of the center of gravity offset. The system then decomposes this tension vector into three component forces, each corresponding to the tension applied by the three tensioning devices.

[0138] The vertical lifting torque of the main boom crane, the balancing torque of the auxiliary crane and the horizontal tension of the three sets of tensioning devices work together to form a multi-directional force balance on the tower body, ensuring that the tower body maintains a stable posture during the lifting process, limiting the tilt angle to within ±2° and the angular velocity to within ±1° / s.

[0139] In an optional embodiment,

[0140] The dynamic tension compensation algorithm is used to process the tilt angle and angular velocity data to calculate the real-time offset of the tower body's center of gravity, including:

[0141] Obtain tower body tilt angle data and angular velocity data collected by the inertial measurement unit;

[0142] Establishing a tower body attitude data cache queue, and storing the continuously collected tilt angle data and angular velocity data in the attitude data cache queue;

[0143] A dynamic tension compensation algorithm is used to process the data in the posture data cache queue, and the dynamic tension compensation algorithm includes:

[0144] Calculating the projection trajectory of the tower body on the horizontal plane according to the tilt angle data;

[0145] Calculating the motion acceleration of the tower body based on the angular velocity data;

[0146] Combining the projection trajectory and motion acceleration, a dynamic prediction model of the tower body's center of gravity position is established;

[0147] Calculating the real-time offset of the tower body's center of gravity according to the dynamic prediction model, wherein the real-time offset includes a horizontal offset component and a vertical offset component;

[0148] The real-time offset is filtered to eliminate offset fluctuations caused by random disturbances.

[0149] For example, the system collects raw data from five inertial measurement units mounted on the tower's surface. Each unit outputs triaxial acceleration and triaxial angular velocity data at a frequency of 200 Hz. The collected raw data is first preprocessed through a digital filter to remove high-frequency noise and low-frequency drift.

[0150] The system establishes an attitude data cache queue for each inertial measurement unit (IMU) with a length of 100, storing the sensor data from the last 0.5 seconds. The queue is implemented as a circular buffer; as new data enters the queue, the oldest data is overwritten. The data stored in the queue includes timestamps, three-axis acceleration, and three-axis angular velocity.

[0151] The dynamic tension compensation algorithm first processes the angular velocity data and calculates the tower's inclination in three directions through numerical integration. This calculation is based on the current inclination being equal to the previous inclination plus the current angular velocity multiplied by the time interval, where the time interval is set to 0.005 seconds.

[0152] To prevent integration drift, the system uses acceleration data to correct the inclination angle. Under static or quasi-static conditions, the system calculates an auxiliary inclination angle using the gravity acceleration vector. The inclination angle obtained by integrating the angular velocity and the auxiliary inclination angle obtained by acceleration are then fused using a complementary filter with a filter coefficient of 0.98.

[0153] Based on the fused inclination data, the system calculates the projection trajectory of the tower on the horizontal plane. Assuming the tower is a rigid body with a length equal to the tower height, the projection coordinates of the tower top on the horizontal plane can be calculated using trigonometric functions.

[0154] Based on the angular velocity data, the system calculates the tower's acceleration. The angular velocity data is first differentiated with respect to time to obtain the angular acceleration, which is calculated by subtracting the angular velocity at the previous moment from the current moment, and then dividing the result by the time interval.

[0155] Combining inclination angle, angular velocity, and angular acceleration, the system establishes a dynamic prediction model for the tower's center of gravity. This model, based on the tower's physical properties and dynamic equations, considers the tower's mass and stiffness distribution, with the distribution parameters being a function of height from the tower base. The model uses the finite element method to discretize the tower into 20 nodes, calculating the displacement and force at each node to determine the center of gravity.

[0156] Using a dynamic prediction model, the system calculates the real-time offset of the tower's center of gravity, including both horizontal and vertical components. The calculation formula is based on the principle of integration and takes into account the mass distribution and inclination angle distribution at each height.

[0157] Finally, the system processes the calculated center of gravity offset using an adaptive Kalman filter to eliminate fluctuations caused by random factors such as wind load and measurement noise. The filter's state transition matrix and observation matrix are dynamically adjusted based on the system's dynamic characteristics to ensure optimal filtering. The filtered center of gravity offset data is then transmitted to the hoisting control system for subsequent torque calculation and tension adjustment.

[0158] In an optional embodiment,

[0159] Synchronously controlling the tensioning device to apply tension in the horizontal direction, wherein the magnitude and direction of the tension are adjusted in real time according to the center of gravity offset, includes:

[0160] receiving real-time offset data of the center of gravity of the tower body, wherein the real-time offset data includes a horizontal offset component and a vertical offset component;

[0161] Calculating a tension vector along a horizontal plane according to the horizontal offset component, wherein the tension vector includes a tension magnitude and a tension direction;

[0162] Three sets of tensioning devices are arranged around the tower body at intervals of 120 degrees, each set of the tensioning devices including a tension sensor and an electric winch;

[0163] Decomposing the tension vector into component forces corresponding to the three tensioning devices, and calculating the tension value required to be applied by each tensioning device;

[0164] Synchronously control the electric winches of the three tensioning devices so that the actual tension value applied by each tensioning device matches the calculated tension value;

[0165] The actual tension value of each group of tensioning devices is monitored in real time by the tension sensor, and when it is detected that the tension deviation exceeds a preset threshold, tension compensation adjustment is triggered;

[0166] According to the changing trend of the tower body's center of gravity offset, the tension value of each group of tensioning devices is dynamically adjusted to maintain the force balance of the tower body in the horizontal direction.

[0167] Exemplarily, the control system receives filtered real-time tower center of gravity offset data. The system extracts the horizontal offset component and calculates the modulus and azimuth of the horizontal offset. The modulus is calculated using the square root of the sum of squares, and the azimuth is calculated using the inverse tangent function.

[0168] Based on the horizontal offset component, the system calculates the required horizontal tension vector. The tension is equal to the scale factor multiplied by the horizontal offset modulus, multiplied by 1, plus the speed factor multiplied by the rate of change of the horizontal offset, where the scale factor is 2000 Newtons per meter and the speed factor is 0.5 seconds. The direction of the tension is opposite to the horizontal offset, that is, the direction angle plus 180 degrees.

[0169] Three tensioning devices are installed at 120-degree intervals around the tower, located at azimuth angles of 0, 120, and 240 degrees. Each tensioning device consists of an electric winch with a rated pulling force of 50 kN, a tension sensor with an accuracy of ±0.1 kN, a set of guide pulleys, and high-strength steel cables.

[0170] The system decomposes the horizontal tension vector into its component forces corresponding to the three tensioning devices. This is calculated by multiplying the tension by the cosine of the angle between the tension direction and the orientation of each device. If the result is negative, the minimum holding tension is set at 1 kN to ensure the cable remains taut.

[0171] The control system transmits the calculated target tension values ​​to the electric winch controllers of the three tensioning devices via the industrial fieldbus. Each electric winch controller has a built-in PID control algorithm. After receiving the target tension value, it adjusts the motor output torque based on the actual tension value fed back by the tension sensor, ensuring that the actual tension value approaches the target tension value.

[0172] Tension control utilizes a cascade control structure, with the inner loop for tension control and the outer loop for position control. The inner loop control period is 10 milliseconds, and the outer loop control period is 100 milliseconds. The inner loop PID parameters are set to a proportional coefficient of 5.0, an integral coefficient of 2.0, and a differential coefficient of 0.5; the outer loop PID parameters are set to a proportional coefficient of 3.0, an integral coefficient of 0.5, and a differential coefficient of 1.0. The system uses a self-tuning algorithm to dynamically adjust the PID parameters based on actual control performance to adapt to varying load conditions and environmental disturbances.

[0173] The tension sensor monitors the actual tension of each tensioning device in real time, with a sampling frequency of 100Hz. The system compares the actual tension value with the target tension value and calculates the tension deviation.

[0174] If the absolute value of any tension deviation exceeds a preset threshold of 2 kN, or the modulus of the combined deviation vector of the three tension groups exceeds 3 kN, the system triggers the tension compensation process. This adjustment utilizes an incremental PID algorithm to generate speed control commands for the winch motor, precisely controlling the cable retraction and release speed.

[0175] Based on the changing trend of the tower's center of gravity offset, the system uses a predictive control algorithm to calculate the tension demand within the next 0.5 seconds, achieving feedforward compensation for tension control and effectively reducing control lag. The system also considers the impact of wind loads and modifies the tension calculation formula based on real-time wind speed data provided by the wind speed sensor, improving system stability in strong wind conditions.

[0176] In an optional embodiment,

[0177] The actual tension value of each group of tensioning devices is monitored in real time by the tension sensor. When the tension deviation is detected to exceed a preset threshold, tension compensation adjustment is triggered, including:

[0178] The actual tension value of each tensioning device is collected by the tension sensors installed on the three tensioning devices;

[0179] Comparing the actual tension value with the target tension value of the tensioning device to calculate the tension deviation value;

[0180] Establishing a tension deviation monitoring queue, and storing the continuously collected tension deviation values ​​in the tension deviation monitoring queue;

[0181] Real-time detection of whether the deviation value in the tension deviation monitoring queue exceeds a preset threshold;

[0182] When it is detected that the tension deviation value exceeds a preset threshold, a tension compensation amount is calculated, wherein the tension compensation amount is determined based on the magnitude and duration of the tension deviation;

[0183] generating an adjustment instruction for the electric winch according to the tension compensation amount, and controlling the electric winch to perform tension compensation adjustment;

[0184] During the tension compensation adjustment process, the actual tension value is continuously monitored until the tension deviation value falls back to the preset threshold range.

[0185] For example, each of the three tensioning devices is equipped with an S-shaped tension sensor with a range of 0-100 kN and an accuracy of ±0.1% of full scale, or ±0.1 kN. The tension sensor utilizes strain gauge technology and is temperature-compensated, operating within a -30°C to +70°C temperature range to accommodate the temperature fluctuations of the desert environment. The sensor transmits the measured tension value to the data acquisition module via a 4-20 mA current signal.

[0186] The data acquisition module uses a 16-bit ADC converter with a sampling frequency of 1 kHz to collect signals from each tension sensor group. The collected raw data is first processed through a median filter to remove occasional spike interference. Then, it is filtered through a low-pass filter (cutoff frequency of 10 Hz) to filter out high-frequency noise, ultimately obtaining a smooth actual tension value.

[0187] The control system compares the actual tension value with the target tension value and calculates the tension deviation. The system establishes a tension deviation monitoring queue for each tensioning device. The queue length is 50 and stores the tension deviation values ​​within the last 0.5 seconds. The queue uses a sliding window mechanism, and each time new data is entered, the oldest data is removed.

[0188] The system detects the data in the tension deviation monitoring queue in real time and determines whether any of the following trigger conditions are met: (1) the absolute value of a single tension deviation is greater than the preset threshold value K1 and the duration exceeds t1; (2) the sum of the three tension deviations is greater than the preset threshold value K2; (3) the rate of change of the tension deviation is greater than the preset threshold value K3. Among them, K1 is 2 kN, t1 is 0.2 seconds, K2 is 3 kN, and K3 is 5 kN per second.

[0189] When the trigger conditions are met, the system calculates the tension compensation. This calculation is based on the PID control algorithm, which involves the weighted sum of the proportional, integral, and differential terms. The coefficients of the proportional, integral, and differential terms are the proportional, integral, and differential coefficients, respectively, and are dynamically adjusted based on the magnitude and duration of the deviation through an adaptive mechanism. Large deviations increase the proportional coefficient to speed up response, small deviations increase the integral coefficient to improve steady-state accuracy, and drastic deviations increase the differential coefficient to suppress overshoot.

[0190] The system converts the calculated tension compensation into control instructions for the electric winch. The electric winch utilizes variable frequency speed regulation technology, with control instructions transmitted to the inverter via an industrial bus. Based on the instructions, the inverter adjusts the output frequency and voltage, controlling the winch motor's speed and torque to achieve precise retraction and release of the cable.

[0191] To ensure coordinated operation of the three tensioning units, the system employs a master-slave synchronization control strategy. The unit with the largest deviation is selected as the master, while the remaining two units serve as slaves. The three electric winches maintain synchronization via a communication network. Upon receiving a control command, the master unit first executes it and broadcasts its status information to the slave units. These slave units then adjust their control parameters based on this information, ensuring that the direction of the resultant force from the three tensioning units aligns with the calculated theoretical direction.

[0192] During the tension compensation adjustment process, the system continuously monitors actual tension changes at a frequency of 100 Hz. When the tension deviation falls back to within the preset threshold value K0 of 0.5 kN and remains stable for more than t0 (0.3 seconds), the system determines that the compensation adjustment is complete, exits the adjustment process, and enters normal monitoring mode.

[0193] The entire tension monitoring and compensation system features self-diagnostic capabilities, capable of detecting sensor failures, communication interruptions, and actuator anomalies. If a system anomaly is detected, the control system automatically activates a backup control mode, ensuring continuity and safety during the lifting process.

[0194] According to a second aspect of the embodiments of the present invention,

[0195] An electronic device is provided, comprising:

[0196] processor;

[0197] a memory for storing processor-executable instructions;

[0198] The processor is configured to call the instructions stored in the memory to execute the aforementioned method.

[0199] According to a third aspect of the embodiments of the present invention,

[0200] A computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method described above is implemented.

[0201] The present invention may be a method, an apparatus, a system and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for executing various aspects of the present invention.

[0202] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for assembling, positioning and hoisting posture control of a transmission line tower in a desert environment, characterized in that: include: Obtaining tower structural parameters and desert environmental parameters of the transmission line tower, wherein the tower structural parameters include tower height, tower center of gravity position, and tower segment connection structure dimensions; and the desert environmental parameters include geological conditions, wind speed, and wind direction; Establishing a laser positioning reference system at the tower assembly site, the laser positioning reference system includes three laser emitting devices, each of the laser emitting devices is provided with an angle sensor and a distance sensor; The laser positioning reference system is used to assemble and position the tower segments, a laser marking line is projected on the connecting surface of the tower segments by the laser emitting device, the spatial coordinates of the tower segments are established according to the real-time data of the angle sensor and the distance sensor, and the position of the tower segments is corrected by an adaptive iterative algorithm; An inertial measurement unit is installed on the surface of the tower, wherein the inertial measurement unit includes an acceleration sensor and a gyroscope; Establishing a hoisting attitude control system, the hoisting attitude control system includes a main boom crane, an auxiliary crane and a tensioning device; During the hoisting process, a dynamic tension compensation algorithm is used to calculate the center of gravity offset of the tower body based on the posture data collected by the inertial measurement unit, including: simplifying the tower body into a variable-mass multi-segment flexible body, considering the combined effects of wind load, inertial force and external tension, and obtaining the center of gravity offset of the tower body based on the real-time calculated tilt angle and angular velocity, combined with the tower body mass distribution and stiffness parameters; controlling the lifting torque of the main boom crane and the balancing torque of the auxiliary crane, and applying horizontal tension through the tensioning device to achieve posture stability control of the tower body during the hoisting process; When the tower reaches the preset vertical position, quick-curing material is injected into the tower foundation connection to complete the tower installation.

2. The method according to claim 1, characterized in that The laser positioning reference system is used to assemble and position the tower segments, a laser marking line is projected on the connecting surface of the tower segments by the laser emitting device, the spatial coordinates of the tower segments are established according to the real-time data of the angle sensor and the distance sensor, and the position of the tower segments is corrected by an adaptive iterative algorithm, including: A laser positioning reference system is set up at the tower assembly site, wherein the laser positioning reference system includes three laser emitting devices, each of which is provided with an angle sensor and a distance sensor; Controlling the laser emitting device to project laser marking lines on the connecting surfaces of the tower segments to be assembled to form laser positioning reference marks; The angle sensor and the distance sensor are used to collect the position information of the tower body segment, and the spatial coordinates of the tower body segment are established according to the position information; Comparing the spatial coordinates of the tower body segment with the target coordinates of the preset assembly position to calculate the position deviation value; Based on the position deviation value, an adaptive iterative algorithm is used to generate a position correction instruction, and the adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values ​​collected multiple times continuously; The adjusting mechanism of the tower body segment is controlled according to the position correction instruction to adjust the position of the tower body segment in real time until the position deviation value is smaller than a preset threshold value, thereby completing the assembly positioning of the tower body segment.

3. The method according to claim 2, characterized in that Based on the position deviation value, an adaptive iterative algorithm is used to generate a position correction instruction, and the adaptive iterative algorithm dynamically adjusts the correction parameters according to the position deviation values ​​collected multiple times continuously, including: Collecting real-time position data of the tower segments during assembly, and calculating a position deviation value between the real-time position data and a preset target position; Based on the multiple position deviation values ​​collected continuously, a position deviation time series data set is established; Calculating a change trend and a change rate of the position deviation based on the position deviation time series data set; Based on the change trend and change rate, an adaptive iterative algorithm is used to dynamically generate correction parameters, wherein the correction parameters include a correction step size and a correction direction; generating a position correction instruction according to the correction parameter, wherein the position correction instruction is used to control a position adjustment device of a tower segment; After each execution of the position correction instruction, the position deviation value is re-collected and the position deviation time series data set is updated, and the correction parameters are continuously dynamically adjusted until the position deviation value is less than a preset threshold.

4. The method according to claim 1, wherein During the hoisting process, based on the posture data collected by the inertial measurement unit, a dynamic tension compensation algorithm is used to calculate the center of gravity offset of the tower body, the hoisting torque of the main boom crane and the balancing torque of the auxiliary crane are controlled, and horizontal tension is applied by the tensioning device to achieve posture stability control during the tower body hoisting process, including: The inertial measurement unit (IMU) is installed on the surface of the tower to collect real-time attitude data of the tower during the hoisting process. The IMU includes an acceleration sensor and a gyroscope. Calculating the inclination angle and angular velocity of the tower body in three-dimensional space based on the real-time posture data; A dynamic tension compensation algorithm is used to process the tilt angle and angular velocity data to calculate the real-time offset of the tower body's center of gravity; Calculating the lifting torque required by the main boom crane and the balancing torque required by the auxiliary crane based on the center of gravity offset; Controlling the main boom crane and the auxiliary crane to adjust the forces according to the lifting moment and the balancing moment respectively; Synchronously controlling the tensioning device to apply tension in the horizontal direction, wherein the magnitude and direction of the tension are adjusted in real time according to the center of gravity offset; The lifting torque of the main boom crane, the balancing torque of the auxiliary crane and the horizontal tension of the tensioning device form a three-way force balance to achieve a stable posture of the tower body during the lifting process.

5. The method according to claim 4, characterized in that The dynamic tension compensation algorithm is used to process the tilt angle and angular velocity data to calculate the real-time offset of the tower body's center of gravity, including: Obtain tower body tilt angle data and angular velocity data collected by the inertial measurement unit; Establishing a tower body attitude data cache queue, and storing the continuously collected tilt angle data and angular velocity data in the attitude data cache queue; A dynamic tension compensation algorithm is used to process the data in the posture data cache queue, and the dynamic tension compensation algorithm includes: Calculating the projection trajectory of the tower body on the horizontal plane according to the tilt angle data; Calculating the motion acceleration of the tower body based on the angular velocity data; Combining the projection trajectory and motion acceleration, a dynamic prediction model of the tower body's center of gravity position is established; Calculating the real-time offset of the tower body's center of gravity according to the dynamic prediction model, wherein the real-time offset includes a horizontal offset component and a vertical offset component; The real-time offset is filtered to eliminate offset fluctuations caused by random disturbances.

6. The method according to claim 4, characterized in that Synchronously controlling the tensioning device to apply tension in the horizontal direction, wherein the magnitude and direction of the tension are adjusted in real time according to the center of gravity offset, includes: receiving real-time offset data of the center of gravity of the tower body, wherein the real-time offset data includes a horizontal offset component and a vertical offset component; Calculating a tension vector along a horizontal plane according to the horizontal offset component, wherein the tension vector includes a tension magnitude and a tension direction; Three sets of tensioning devices are arranged around the tower body at intervals of 120 degrees, each set of the tensioning devices including a tension sensor and an electric winch; Decomposing the tension vector into component forces corresponding to the three tensioning devices, and calculating the tension value required to be applied by each tensioning device; Synchronously control the electric winches of the three tensioning devices so that the actual tension value applied by each tensioning device matches the calculated tension value; The actual tension value of each group of tensioning devices is monitored in real time by the tension sensor, and when it is detected that the tension deviation exceeds a preset threshold, tension compensation adjustment is triggered; According to the changing trend of the tower body's center of gravity offset, the tension value of each group of tensioning devices is dynamically adjusted to maintain the force balance of the tower body in the horizontal direction.

7. The method according to claim 6, characterized in that The actual tension value of each group of tensioning devices is monitored in real time by the tension sensor. When the tension deviation is detected to exceed a preset threshold, tension compensation adjustment is triggered, including: The actual tension value of each tensioning device is collected by the tension sensors installed on the three tensioning devices; Comparing the actual tension value with the target tension value of the tensioning device to calculate the tension deviation value; Establishing a tension deviation monitoring queue, and storing the continuously collected tension deviation values ​​in the tension deviation monitoring queue; Real-time detection of whether the deviation value in the tension deviation monitoring queue exceeds a preset threshold; When it is detected that the tension deviation value exceeds a preset threshold, a tension compensation amount is calculated, wherein the tension compensation amount is determined based on the magnitude and duration of the tension deviation; generating an adjustment instruction for the electric winch according to the tension compensation amount, and controlling the electric winch to perform tension compensation adjustment; During the tension compensation adjustment process, the actual tension value is continuously monitored until the tension deviation value falls back to the preset threshold range.

8. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to call the instructions stored in the memory to execute the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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