End-cloud collaborative large component synchronous lifting control method and system

Abstract

The invention discloses an end-cloud cooperative large component synchronous lifting control method and system, and relates to the lifting control related technical field, and the method comprises the steps that an end-cloud cooperative control platform in communication connection with hydraulic lifting equipment is constructed, and the hydraulic lifting equipment comprises multiple sets of hydraulic lifting parts; the end cloud cooperative control platform comprises a plurality of edge clouds and a center cloud; a first hydraulic lifting piece in the multiple sets of hydraulic lifting pieces is extracted; the first motion state of the first hydraulic lifting part is analyzed through the first edge cloud; determining a target part based on the first lifting speed; and carrying out synchronous lifting control on the second part through the central cloud by taking the synchronous control reference as a constraint. The technical problems that in the prior art, centralized control delay is high, dynamic environment adaptability is poor, intelligent analysis is insufficient and the end-cloud cooperation capacity is poor are solved, and the technical effects that efficient end-cloud cooperation is achieved, synchronous lifting control precision is improved, and the response speed and large component lifting control reliability are improved are achieved.

Description

Technical Field

[0001] The present application relates to the technical field related to lifting control, and specifically to a method and system for synchronous lifting control of large components in end-cloud collaboration. Background Art

[0002] In large-scale engineering construction projects such as bridge construction, large steel structure installation, and shipbuilding, precise lifting and lowering control of heavy components is required. Existing large component lifting is controlled by the coordinated efforts of multiple hydraulic cylinders to ensure that the components remain horizontal or move in a predetermined posture during the lifting process. However, hydraulic synchronization control systems typically use centralized control, where sensor data from all hydraulic lifting equipment is uploaded to a central controller for processing, which then issues control instructions. This can easily lead to control lags due to network delays, which in turn affects synchronization accuracy. Furthermore, during the lifting process, the motion state of each lifting point may change dynamically due to uneven load distribution, changes in hydraulic system parameters, and flexible deformation of the mechanical structure. Existing synchronization strategies are unable to adapt to these dynamic changes in real time, resulting in accumulated synchronization errors that affect construction safety and efficiency.

[0003] Therefore, the current related technologies have technical problems such as high centralized control latency, poor adaptability to dynamic environments, insufficient intelligent analysis, and poor end-cloud collaboration capabilities. Summary of the Invention

[0004] This application solves the technical problems of high centralized control delay, poor adaptability to dynamic environments, insufficient intelligent analysis and poor end-cloud collaboration in the prior art by providing a method and system for synchronous lifting control of large components with end-cloud collaboration, and achieves the technical effects of realizing efficient end-cloud collaboration, improving the accuracy of synchronous lifting control, enhancing response speed and reliability of lifting control of large components.

[0005] The present application provides an end-cloud collaborative synchronous lifting control method for large-scale components, the method comprising: constructing an end-cloud collaborative control platform that is communicatively connected to a hydraulic lifting device, wherein the hydraulic lifting device comprises multiple groups of hydraulic lifting parts, and the end-cloud collaborative control platform comprises multiple edge clouds and a central cloud; extracting a first hydraulic lifting part from the multiple groups of hydraulic lifting parts, and the first hydraulic lifting part is equipped with a first edge cloud from the multiple edge clouds; analyzing a first motion state of the first hydraulic lifting part through the first edge cloud to obtain a first lifting speed of a first part, wherein the first part is lifted and controlled by the first hydraulic lifting part; determining a target part based on the first lifting speed, and using the target part as a synchronous control reference; using the synchronous control reference as a constraint, performing synchronous lifting and control on a second part through the central cloud, wherein the second part refers to any part of the large-scale component that is different from the first part.

[0006] In a possible implementation, the end-cloud coordinated large-scale component synchronous lifting control method also performs the following processing: the first hydraulic lifting component includes a first electro-hydraulic proportional valve, a first balancing valve and a first hydraulic cylinder, and the first hydraulic lifting component is flexibly connected to the first part of the large component through a wire rope pulley group.

[0007] In a possible implementation, the end-cloud collaborative large-scale component synchronous lifting control method also performs the following processing: reading predetermined factor indicators, and traversing and analyzing the first motion state based on the predetermined motion indicators to obtain first indicator parameters; reading predetermined weight distribution, and performing weighted calculation on the first indicator parameters in combination with the predetermined weight distribution to obtain the first lifting speed; wherein, the predetermined factor indicators include flow, pressure, load, effective area of ​​the hydraulic cylinder and valve setting.

[0008] In a possible implementation, the end-cloud collaborative large-scale component synchronous lifting control method also performs the following processing: determining the first center of mass of the first part; determining the second center of mass of the first hydraulic lifting component; calculating the spatial distance from the first center of mass to the second center of mass; and using the normalized spatial distance as a correction coefficient to correct and adjust the first lifting speed.

[0009] In a possible implementation, the end-cloud collaborative large-scale component synchronous lifting control method also performs the following processing: the first parts are arranged in ascending order based on the first lifting speed to obtain a part sequence, and the first part in the part sequence is used as the target part.

[0010] In a possible implementation, the end-cloud collaborative method for synchronous lifting control of large components also performs the following processing: matching the second edge cloud corresponding to the second part among the multiple edge clouds; obtaining the second lifting speed of the second part through the second edge cloud; comparing the first lifting speed with the second lifting speed through the central cloud to obtain a second control quantity; obtaining the predetermined acceleration of the second hydraulic lifting component corresponding to the second part, and generating a second control strategy in combination with the second control quantity; and performing synchronous lifting control on the second part through the second control strategy.

[0011] In a possible implementation, the end-cloud collaborative large-scale component synchronous lifting control method also performs the following processing: obtaining the second electro-hydraulic proportional valve of the second hydraulic lifting component, wherein the second electro-hydraulic proportional valve has a second proportional valve control threshold; obtaining the second balancing valve of the second hydraulic lifting component, wherein the second balancing valve has a second balancing valve control threshold; obtaining the response speeds of the second electro-hydraulic proportional valve and the second balancing valve in turn, and recording them as the second proportional valve response speed and the second balancing valve response speed respectively; collaboratively analyzing the second proportional valve control threshold, the second balancing valve control threshold, the second proportional valve response speed and the second balancing valve response speed to obtain the predetermined acceleration.

[0012] In a possible implementation, the end-cloud collaborative large-scale component synchronous lifting control method also performs the following processing: obtaining the second viscosity of the hydraulic oil in the second hydraulic lifting component; and correcting and adjusting the predetermined acceleration using the normalized second viscosity as a correction coefficient.

[0013] In a possible implementation, the end-cloud collaborative large-scale component synchronous lifting control method also performs the following processing: activating the first image collector arranged on the first hydraulic lifting component, collecting dynamic images of the first part, and obtaining a first image; constructing a real-time point cloud model of the large component based on the first image; and visualizing the lifting of the large component through the real-time point cloud model.

[0014] The present application also provides an end-cloud collaborative synchronous lifting control system for large-scale components, the system comprising: a control platform construction module, used to construct an end-cloud collaborative control platform that is communicatively connected to the hydraulic lifting equipment, wherein the hydraulic lifting equipment comprises multiple groups of hydraulic lifting parts, and the end-cloud collaborative control platform comprises multiple edge clouds and a central cloud; a hydraulic lifting part extraction module, used to extract the first hydraulic lifting part from the multiple groups of hydraulic lifting parts, and the first hydraulic lifting part is equipped with the first edge cloud from the multiple edge clouds; a motion state analysis module, used to analyze the first motion state of the first hydraulic lifting part through the first edge cloud to obtain the first lifting speed of the first part, wherein the first part is lifted and controlled by the first hydraulic lifting part; a target part determination module, used to determine the target part based on the first lifting speed, and use the target part as a synchronous control reference; a synchronous lifting control module, used to use the synchronous control reference as a constraint to perform synchronous lifting control on the second part through the central cloud, wherein the second part refers to any part of the large component that is different from the first part.

[0015] The present application proposes a method and system for synchronous lifting control of large components with end-cloud collaboration, to build an end-cloud collaborative control platform that is communicatively connected to the hydraulic lifting equipment. The hydraulic lifting equipment includes multiple groups of hydraulic lifting parts, and the end-cloud collaborative control platform includes multiple edge clouds and a central cloud. The method and system are used to extract the first hydraulic lifting part from the multiple groups of hydraulic lifting parts, analyze the first motion state of the first hydraulic lifting part through the first edge cloud, determine the target part based on the first lifting speed, and perform synchronous lifting control on the second part through the central cloud with the synchronous control benchmark as a constraint. This method solves the technical problems of high centralized control delay, poor dynamic environment adaptability, insufficient intelligent analysis, and poor end-cloud collaborative capabilities in the prior art, and achieves the technical effects of realizing efficient end-cloud collaboration, improving synchronous lifting control accuracy, enhancing response speed, and reliability of large component lifting control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the accompanying drawings of the embodiments of the present disclosure are briefly introduced below. Flowcharts are used in this application to illustrate the operations performed by the systems according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in precise order. Instead, various steps may be processed in reverse order or simultaneously as needed. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0017] Figure 1 A flow chart of a method for controlling the synchronous lifting of large components in an end-cloud collaborative manner provided in an embodiment of the present application.

[0018] Figure 2 A schematic structural diagram of a large-scale component synchronous lifting control system with end-cloud collaboration provided in an embodiment of the present application.

[0019] Description of the accompanying drawings: control platform construction module 10, hydraulic lifting component extraction module 20, motion state analysis module 30, target part determination module 40, synchronous lifting control module 50. DETAILED DESCRIPTION

[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

[0021] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0022] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict, and the terms “first\second” involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. The terms “including” and “having” and any variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or modules that are not clearly listed or that are inherent to these processes, methods, products or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein are for the purpose of describing the embodiments of this application only.

[0023] The embodiment of the present application provides a method for controlling the synchronous lifting of large components in a terminal-cloud collaborative manner, such as Figure 1 As shown, the method includes: Step S100: construct an end-cloud collaborative control platform that is communicatively connected to the hydraulic lifting equipment, wherein the hydraulic lifting equipment includes multiple groups of hydraulic lifting parts, and the end-cloud collaborative control platform includes multiple edge clouds and a central cloud.

[0024] Preferably, a deep integration of hydraulic lifting equipment and the cloud is achieved through a layered architecture. Specifically, each hydraulic lifting component is equipped with an industrial-grade communication module, and sensor data such as pressure, flow, and displacement are transmitted to the corresponding edge cloud node in real time through the Modbus protocol. At the same time, control instructions are received to adjust the electro-hydraulic proportional valve and the balancing valve; edge servers, such as industrial gateways or edge computing boxes, are deployed near the hydraulic lifting equipment cluster. Each edge cloud node is responsible for managing multiple hydraulic lifting components to achieve millisecond-level local closed-loop control; the central cloud is then integrated to access all edge cloud data through MQTT / Kafka, and a time series database is used to store the global state, and the collaborative strategy is optimized and generated, and sent to the edge layer through a low-latency network; wherein, two-way identity authentication is set up between the edge and the cloud, and a lightweight firewall is deployed on the edge side to ensure that the control instructions are not tampered with, thereby building an end-cloud collaborative control platform that communicates with the hydraulic lifting equipment.

[0025] Preferably, the end-cloud collaborative control platform is used for the hydraulic synchronous lifting operation of large components. It consists of hydraulic lifting equipment and a cloud control layer. High-precision synchronous control is achieved through real-time data interaction and collaborative computing. The hydraulic lifting equipment on the end side includes multiple groups of hydraulic lifting parts. Each group of hydraulic lifting parts contains core components such as electro-hydraulic proportional valves, balancing valves, hydraulic cylinders, etc., which are flexibly connected to different parts of the large component through a wire rope pulley group; the sensing unit is used to collect data such as flow, pressure, load, and hydraulic cylinder displacement in real time; the local controller executes the control instructions issued by the edge cloud to adjust the valve opening, hydraulic cylinder movement, etc.; the hydraulic lifting equipment acts as a physical execution unit to directly drive the component to lift and lower. The end-cloud collaborative control platform includes multiple edge clouds and a central cloud. Each hydraulic lifting part is equipped with an edge cloud node deployed near the equipment to perform millisecond-level calculations on the motion state of the hydraulic lifting part to avoid cloud transmission delays; the central cloud is a high-performance computing platform deployed in a remote data center. It can receive all edge cloud data, compare the lifting speeds of each part, select the optimal benchmark, and coordinate the synchronization of other parts; and generate adaptive control parameters by combining historical data and working condition predictions.

[0026] Step S200: extracting a first hydraulic lifting component from the plurality of hydraulic lifting components, wherein the first hydraulic lifting component is equipped with a first edge cloud from the plurality of edge clouds.

[0027] Step S200 further includes step S210, wherein the first hydraulic lifting component includes a first electro-hydraulic proportional valve, a first balancing valve and a first hydraulic cylinder, and the first hydraulic lifting component is flexibly connected to the first part of the large component through a wire rope pulley group.

[0028] Preferably, a group of hydraulic lifting components is randomly extracted from multiple groups as the first hydraulic lifting component, that is, a single hydraulic lifting unit as an analysis benchmark. The first hydraulic lifting component includes a first electro-hydraulic proportional valve, a first balancing valve and a first hydraulic cylinder, wherein the first hydraulic cylinder serves as a core power element and provides lifting power through the telescopic movement of the piston rod; the wire rope pulley group adopts a flexible connection method to connect the hydraulic cylinder to the first part of the large component, which can better absorb impact and compensate for deviations than a rigid connection; the first balancing valve is installed in the hydraulic circuit to prevent the load from suddenly dropping and ensure that the lifting process is smooth and controllable; the first electro-hydraulic proportional valve serves as a precision flow control device and can accurately adjust the flow and direction of the hydraulic oil according to the electrical signal. The first hydraulic lifting component is equipped with a first edge cloud among multiple edge clouds, that is, an edge computing node configured for the hydraulic lifting component, which can collect and process data such as the current signal of the electro-hydraulic proportional valve, the state of the balancing valve, the displacement of the hydraulic cylinder, etc. in real time, calculate the real-time lifting speed of the first part, dynamically adjust the control parameters according to the load changes of the first part, and then coordinate with the central cloud to achieve local and overall coordinated control.

[0029] Step S300: Analyze the first motion state of the first hydraulic lifting component through the first edge cloud to obtain a first lifting speed of the first part, wherein the first part is lifted and controlled by the first hydraulic lifting component.

[0030] Step S300 further includes step S310, reading a predetermined factor index, and performing a traversal analysis on the first motion state based on the predetermined motion index to obtain a first index parameter; step S320, reading a predetermined weight distribution, and performing a weighted calculation on the first index parameter in combination with the predetermined weight distribution to obtain the first lifting speed; step S330, wherein the predetermined factor index includes flow, pressure, load, effective area of ​​the hydraulic cylinder and valve setting.

[0031] Preferably, the predetermined factor indicators are key physical parameter indicators used to quantify the motion state of the hydraulic lifting parts, including flow, pressure, load, effective area of ​​the hydraulic cylinder and valve setting, among which flow refers to the volume of oil delivered by the hydraulic system per unit time, which directly affects the extension and contraction speed of the hydraulic cylinder; pressure refers to the working pressure of the oil, which reflects the reaction force of the load on the hydraulic system; load refers to the actual weight of the first part and the dynamic additional force; the effective area of ​​the hydraulic cylinder refers to the pressure area of ​​the piston, which determines the conversion relationship between liquid pressure and mechanical force; valve setting refers to the opening of the electro-hydraulic proportional valve, the preset pressure threshold of the balancing valve, etc.

[0032] Preferably, the predetermined factor index is read, and the first motion state of the first hydraulic lifting component is traversed and analyzed through the first edge cloud based on the predetermined motion index. Specifically, the first edge cloud collects data corresponding to the predetermined index in real time through sensors, and performs normalization based on the target lifting speed and acceleration limit, and then performs state evaluation, that is, the theoretical speed is calculated by flow and hydraulic cylinder area, and then combined with pressure and load to determine whether it exceeds the limit, and generate first indicator parameters, such as speed deviation coefficient, load adaptability, etc.; then, based on historical data and simulation experiments, the weight coefficients of each factor affecting the lifting speed are pre-set, that is, predetermined weight distribution, such as 40% for load and 30% for pressure; read the predetermined weight distribution, and perform weighted calculation on the first indicator parameter in combination with the predetermined weight distribution, and output the first lifting speed as the target speed of the current hydraulic lifting component.

[0033] Furthermore, step S320 also includes step S321, determining the first center of mass of the first part; step S322, determining the second center of mass of the first hydraulic lifting part; step S323, calculating the spatial distance from the first center of mass to the second center of mass; step S324, using the normalized spatial distance as a correction coefficient to correct and adjust the first lifting speed.

[0034] Preferably, the first center of mass of the first part is determined by pre-calculation of the CAD model or dynamic detection of the real-time sensor, wherein the center of mass position is determined by the geometric shape and material density distribution of the first part of the large component, and the second center of mass of the first hydraulic lifting component is statically calculated based on the three-dimensional model of the equipment, that is, the mass center of the first hydraulic lifting component, which is usually located near the connection point between the hydraulic cylinder piston rod and the wire rope; the three-dimensional Euclidean distance between the first center of mass and the second center of mass is calculated as the spatial distance, reflecting the lever arm length of the hydraulic lifting component to the component part, the greater the distance, the higher the risk of overload caused by the torque during the lifting process; the spatial distance is normalized, that is, the three-dimensional Euclidean distance is divided by the maximum allowable design distance to obtain a dimensionless coefficient, and it is used as a correction coefficient to correct and adjust the first lifting speed. For example, when the spatial distance is large, the speed is appropriately reduced to reduce the swing risk caused by the inertia moment. When the spatial distance is small, the original speed is maintained to ensure efficiency, thereby significantly improving the safety and control accuracy of the lifting of large components.

[0035] Step S400: determining a target part based on the first lifting speed, and using the target part as a synchronization control reference.

[0036] Step S400 further includes arranging the first parts in ascending order based on the first lifting speed to obtain a part sequence, and taking the first part in the part sequence as the target part.

[0037] Preferably, speed stability is taken as the priority criterion, and the part with the slowest and most stable lifting speed is used as the synchronous control benchmark to avoid the risk of uneven force on components or loss of step due to excessive local speed. Specifically, the current lifting speeds of all parts are obtained in real time through the edge cloud associated with each hydraulic lifting component, and the first part is arranged in ascending order based on the first lifting speed, that is, all parts are sorted from low to high according to the lifting speed to generate a part sequence, wherein the low-speed part usually has a larger load or higher resistance, and its stability is higher, which is suitable as a benchmark; then the first part in the part sequence is used as the target part, and the target part is used as the synchronous control benchmark, that is, the central cloud uses the speed of the target part as the benchmark to coordinate other parts to achieve synchronous following by adjusting parameters such as the opening of the electro-hydraulic proportional valve and the hydraulic flow rate, so as to avoid overload of other parts due to excessive speed, thereby improving the dynamic adaptability of the lifting control.

[0038] In step S500, the synchronous control benchmark is used as a constraint to perform synchronous lifting control on the second part through the central cloud, wherein the second part refers to any part of the large component that is different from the first part.

[0039] Step S500 further includes step S510, matching the second edge cloud corresponding to the second part in the multiple edge clouds; step S520, obtaining the second lifting speed of the second part through the second edge cloud; step S530, comparing the first lifting speed with the second lifting speed through the central cloud to obtain a second control quantity; step S540, obtaining the predetermined acceleration of the second hydraulic lifting component corresponding to the second part, and generating a second control strategy in combination with the second control quantity; step S550, performing synchronous lifting control on the second part through the second control strategy.

[0040] Preferably, the synchronous control benchmark is used as a constraint to perform synchronous lifting control on the second part through the central cloud, wherein the second part refers to any part of the large component that is different from the first part. Specifically, the central cloud matches the second edge cloud corresponding to the second part in multiple edge clouds according to the preset device-edge cloud mapping relationship. For example, if the second part is driven by the hydraulic lifting component 5, the edge server deployed at the workstation 5 is matched as the second edge cloud; the second edge cloud collects sensor data of the hydraulic lifting component in real time, including flow, pressure, displacement, etc., outputs the second lifting speed through the local calculation model, and uploads it to the central cloud; then the central cloud compares and analyzes the second lifting speed with the first lifting speed of the reference part, that is, calculates the speed difference between the first lifting speed and the second lifting speed, and generates a second control quantity based on the speed difference and the preset synchronization tolerance threshold.

[0041] Preferably, the predetermined acceleration of the second hydraulic lifting component, that is, the maximum safe acceleration, is read from the configuration library of the second hydraulic lifting component. This value is determined by the hydraulic cylinder thrust, load inertia and mechanical strength. The second control quantity is combined with the predetermined acceleration to generate an executable second control strategy. If the speed needs to be increased, the control quantity is converted into an electro-hydraulic proportional valve opening increment, but does not exceed the acceleration limit; if the speed needs to be reduced, the control quantity triggers the balancing valve to close in advance, and at the same time limits the deceleration gradient to prevent hydraulic shock; finally, the second part is synchronously lifted and lowered by the second control strategy, that is, the central cloud sends the second control strategy to the second edge cloud and converts it into a specific equipment control signal. The second edge cloud monitors the actual speed changes in real time through sensors. If the expected synchronization effect is not achieved, a new round of control quantity calculation is triggered to form a closed-loop adjustment, realize end-to-end automated and precise control, and improve the reliability of large-scale component lifting control.

[0042] Furthermore, step S540 also includes step S541, obtaining the second electro-hydraulic proportional valve of the second hydraulic lifting component, wherein the second electro-hydraulic proportional valve has a second proportional valve control threshold; step S542, obtaining the second balancing valve of the second hydraulic lifting component, wherein the second balancing valve has a second balancing valve control threshold; step S543, obtaining the response speeds of the second electro-hydraulic proportional valve and the second balancing valve in sequence, and recording them as the second proportional valve response speed and the second balancing valve response speed respectively; step S544, collaboratively analyzing the second proportional valve control threshold, the second balancing valve control threshold, the second proportional valve response speed and the second balancing valve response speed to obtain the predetermined acceleration.

[0043] Preferably, the second electro-hydraulic proportional valve of the second hydraulic lifting component is obtained, and the second electro-hydraulic proportional valve has a second proportional valve control threshold, wherein the second proportional valve control threshold refers to the linear relationship range between the valve opening and the input current, which limits the boundary of the flow regulation; the second balancing valve of the second hydraulic lifting component is obtained, and the second balancing valve has a second balancing valve control threshold, wherein the second balancing valve control threshold refers to the safety pressure setting value, which is used to prevent the hydraulic cylinder from stalling and sliding. Then, the response speeds of the second electro-hydraulic proportional valve and the second balancing valve are obtained in turn, and are recorded as the second proportional valve response speed and the second balancing valve response speed respectively, wherein the second proportional valve response speed refers to the response time from the issuance of the command to the valve reaching the target opening, reflecting the dynamic adjustment capability; the second balancing valve response speed refers to the delay time from the overpressure trigger to the full opening, which affects the emergency braking performance.

[0044] Preferably, by collaboratively analyzing the second proportional valve control threshold, the second balancing valve control threshold, the second proportional valve response speed, and the second balancing valve response speed, it is determined whether the system dynamic performance matches. If the pressure corresponding to the maximum flow of the proportional valve is close to the balancing valve threshold, the acceleration needs to be limited to avoid frequent triggering of the balancing valve; if the proportional valve response speed is much faster than the balancing valve, the acceleration needs to be reduced to prevent the balancing valve from not having time to react when the proportional valve is quickly adjusted. Specifically, based on the current opening threshold and response speed of the proportional valve, the maximum flow rate change rate that can be provided is calculated, and then combined with the pressure threshold and response speed of the balancing valve to determine the load mutation range that the system can withstand. Under the flow and pressure restrictions, the collaborative working range of the two is solved, and then the maximum safe acceleration of the hydraulic system is calculated as the predetermined acceleration.

[0045] Furthermore, step S540 also includes step S545, obtaining the second viscosity of the hydraulic oil in the second hydraulic lifting component; and step S546, using the normalized second viscosity as a correction coefficient to correct and adjust the predetermined acceleration.

[0046] Preferably, the viscosity of the hydraulic oil in the second hydraulic lifting component, that is, the dynamic viscosity of the hydraulic oil in the second hydraulic lifting component under the current working conditions, is detected in real time by a viscometer to obtain the second viscosity, and then the second viscosity is normalized, that is, the difference between the second viscosity and the minimum allowable viscosity and the ratio of the difference between the maximum allowable viscosity and the minimum viscosity are calculated, and the normalized second viscosity is output as a correction coefficient, 1 represents the highest viscosity, and 0 represents the lowest; then the predetermined acceleration is corrected and adjusted according to the correction coefficient, that is, when the viscosity is high, it means that the oil flow resistance is large, and the acceleration needs to be reduced to prevent hydraulic shock. When the viscosity is low, it means that the oil fluidity is good, and the acceleration can be appropriately increased, thereby ensuring that the flow regulation matches the viscosity, and improving the robustness of the hydraulic system under complex oil working conditions.

[0047] Furthermore, step S500 also includes step S560, activating a first image collector arranged on the first hydraulic lifting component, collecting dynamic images of the first part, and obtaining a first image; step S570, constructing a real-time point cloud model of the large component based on the first image; and step S580, visualizing the lifting and lowering of the large component through the real-time point cloud model.

[0048] Preferably, the first image collector is usually a high-frame rate industrial camera or a laser radar, which is integrated in a key position of the first hydraulic lifting part. The first image collector is activated to collect dynamic images of the first part, that is, to continuously shoot a two-dimensional image sequence of the first part to obtain a first image, wherein the image acquisition is synchronized with the hydraulic cylinder displacement sensor signal to ensure that each millimeter of lifting displacement corresponds to at least one frame of image; three-dimensional depth information is then generated through the laser radar; the first image is then preprocessed, including denoising, distortion correction and point cloud registration, and the three-dimensional coordinates of the object surface are calculated through multi-perspective image triangulation, and a real-time point cloud model of the large component is constructed in combination with the three-dimensional depth information; finally, the real-time point cloud model is imported into the visualization engine, including displaying the tilt state through the plane angle of the point cloud fitting, generating a lifting path animation through the historical point cloud sequence, and then visualizing the lifting of the large component, and the operator can rotate and scale the model to focus on monitoring high-risk parts, thereby improving the reliability of the lifting control of the large component.

[0049] In the above, refer to Figure 1 A method for controlling the synchronous lifting of large components based on end-cloud collaboration according to an embodiment of the present invention is described in detail. Figure 2 A large-scale component synchronous lifting control system with end-cloud collaboration according to an embodiment of the present invention is described.

[0050] According to an embodiment of the present invention, a large-scale component synchronous lifting control system with end-cloud collaboration is used to solve the technical problems existing in the prior art, such as high centralized control delay, poor adaptability to dynamic environments, insufficient intelligent analysis, and poor end-cloud collaboration capabilities. It achieves the technical effects of achieving efficient end-cloud collaboration, improving the precision of synchronous lifting control, enhancing response speed, and reliability of large-scale component lifting control. Figure 2 As shown, a large-scale component synchronous lifting control system with end-cloud collaboration includes: a control platform construction module 10, a hydraulic lifting component extraction module 20, a motion state analysis module 30, a target part determination module 40, and a synchronous lifting control module 50.

[0051] A control platform construction module 10 is used to construct an end-cloud collaborative control platform that is communicatively connected to the hydraulic lifting equipment, wherein the hydraulic lifting equipment includes multiple groups of hydraulic lifting parts, and the end-cloud collaborative control platform includes multiple edge clouds and a central cloud; a hydraulic lifting part extraction module 20 is used to extract the first hydraulic lifting part from the multiple groups of hydraulic lifting parts, and the first hydraulic lifting part is equipped with the first edge cloud from the multiple edge clouds; a motion state analysis module 30 is used to analyze the first motion state of the first hydraulic lifting part through the first edge cloud to obtain the first lifting speed of the first part, wherein the first part is lifted and controlled by the first hydraulic lifting part; a target part determination module 40 is used to determine the target part based on the first lifting speed, and use the target part as a synchronous control reference; a synchronous lifting control module 50 is used to use the synchronous control reference as a constraint to perform synchronous lifting control on the second part through the central cloud, wherein the second part refers to any part of the large component that is different from the first part.

[0052] The specific configuration of the hydraulic lifting component extraction module 20 will be described in detail below. The hydraulic lifting component extraction module 20 further includes: the first hydraulic lifting component includes a first electro-hydraulic proportional valve, a first balancing valve and a first hydraulic cylinder, and the first hydraulic lifting component is flexibly connected to the first part of the large component via a wire rope pulley assembly.

[0053] The specific configuration of the motion state analysis module 30 will be described in detail below. The motion state analysis module 30 further includes: reading predetermined factor indicators and performing a traversal analysis on the first motion state based on the predetermined motion indicators to obtain a first indicator parameter; reading predetermined weight distributions and performing a weighted calculation on the first indicator parameter in combination with the predetermined weight distributions to obtain the first lifting speed; wherein the predetermined factor indicators include flow rate, pressure, load, hydraulic cylinder effective area, and valve setting.

[0054] The specific configuration of the motion state analysis module 30 will be described in detail below. The motion state analysis module 30 further includes: determining a first center of mass of the first portion; determining a second center of mass of the first hydraulic lifting member; calculating a spatial distance from the first center of mass to the second center of mass; and correcting and adjusting the first lifting speed using the normalized spatial distance as a correction coefficient.

[0055] The following describes in detail the specific configuration of the target part determination module 40. The target part determination module 40 further includes: arranging the first parts in ascending order based on the first lifting speed to obtain a part sequence, and taking the first part in the part sequence as the target part.

[0056] The specific configuration of the synchronous lifting control module 50 will be described in detail below. The synchronous lifting control module 50 further includes: matching a second edge cloud corresponding to the second portion from the multiple edge clouds; obtaining a second lifting speed of the second portion through the second edge cloud; comparing the first lifting speed with the second lifting speed through the central cloud to obtain a second control variable; obtaining a predetermined acceleration of a second hydraulic lifting member corresponding to the second portion, and generating a second control strategy based on the second control variable; and performing synchronous lifting control of the second portion using the second control strategy.

[0057] The specific configuration of the synchronous lifting control module 50 will be described in detail below. The synchronous lifting control module 50 further includes: obtaining a second electro-hydraulic proportional valve of the second hydraulic lifting member, wherein the second electro-hydraulic proportional valve has a second proportional valve control threshold; obtaining a second balancing valve of the second hydraulic lifting member, wherein the second balancing valve has a second balancing valve control threshold; sequentially obtaining the response speeds of the second electro-hydraulic proportional valve and the second balancing valve, and recording them as the second proportional valve response speed and the second balancing valve response speed, respectively; and collaboratively analyzing the second proportional valve control threshold, the second balancing valve control threshold, the second proportional valve response speed, and the second balancing valve response speed to obtain the predetermined acceleration.

[0058] The specific configuration of the synchronous lifting control module 50 will be described in detail below. The synchronous lifting control module 50 further includes: obtaining a second viscosity of the hydraulic oil in the second hydraulic lifting member; and correcting and adjusting the predetermined acceleration using the normalized second viscosity as a correction coefficient.

[0059] The specific configuration of the synchronous lifting control module 50 will be described in detail below. The synchronous lifting control module 50 further includes: activating a first image collector disposed on the first hydraulic lifting member to collect dynamic images of the first portion to obtain a first image; constructing a real-time point cloud model of the large component based on the first image; and visualizing the lifting of the large component using the real-time point cloud model.

[0060] An end-cloud collaborative large-scale component synchronous lifting control system provided by an embodiment of the present invention can execute an end-cloud collaborative large-scale component synchronous lifting control method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0061] Although the present application makes various references to certain modules in the system according to the embodiments of the present application, any number of different modules may be used and run on the user terminal and / or server, and the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present invention.

[0062] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A large-scale component synchronous lifting control method with end-cloud collaboration, characterized in that: include: Building an end-cloud collaborative control platform that is communicatively connected to a hydraulic lifting device, wherein the hydraulic lifting device includes multiple sets of hydraulic lifting components, and the end-cloud collaborative control platform includes multiple edge clouds and a central cloud; Extracting a first hydraulic lift from the plurality of groups of hydraulic lifts, wherein the first hydraulic lift is equipped with a first edge cloud from the plurality of edge clouds; Analyzing a first motion state of the first hydraulic lifting component through the first edge cloud to obtain a first lifting speed of a first portion, wherein the first portion is lifted and controlled by the first hydraulic lifting component; determining a target portion based on the first lifting speed, and using the target portion as a reference for synchronous control; With the synchronous control benchmark as a constraint, the second part is synchronously lifted and lowered by the central cloud, wherein the second part refers to any part of the large component that is different from the first part.

2. The method for controlling synchronous lifting of large components with end-cloud collaboration as claimed in claim 1, characterized in that: The first hydraulic lifting component includes a first electro-hydraulic proportional valve, a first balancing valve and a first hydraulic cylinder, and the first hydraulic lifting component is flexibly connected to the first part of the large component through a wire rope pulley set.

3. The method for controlling synchronous lifting of large components with end-cloud collaboration as claimed in claim 1, characterized in that: Analyzing the first motion state of the first hydraulic lifting component through the first edge cloud to obtain a first lifting speed of the first part includes: Reading a predetermined factor index, and performing a traversal analysis on the first motion state based on the predetermined motion index to obtain a first index parameter; Reading a predetermined weight distribution, and performing a weighted calculation on the first indicator parameter in combination with the predetermined weight distribution to obtain the first lifting speed; The predetermined factor indicators include flow, pressure, load, effective area of ​​the hydraulic cylinder and valve setting.

4. The method for controlling synchronous lifting of large components with end-cloud collaboration as claimed in claim 3, characterized in that: After reading the predetermined weight distribution and performing weighted calculation on the first indicator parameter in combination with the predetermined weight distribution to obtain the first lifting speed, the method further includes: determining a first centroid of the first part; determining a second center of mass of the first hydraulic lift member; Calculating the spatial distance from the first centroid to the second centroid; The first lifting speed is corrected and adjusted using the normalized spatial distance as a correction coefficient.

5. The method for controlling synchronous lifting of large components with end-cloud collaboration as claimed in claim 1, characterized in that: The first parts are arranged in ascending order based on the first lifting speed to obtain a part sequence, and the first part in the part sequence is used as the target part.

6. The method for controlling synchronous lifting of large components with end-cloud collaboration as claimed in claim 1, characterized in that: Using the synchronous control reference as a constraint, synchronously controlling the lifting and lowering of the second part through the central cloud includes: Matching a second edge cloud corresponding to the second part among the multiple edge clouds; obtaining a second lifting speed of the second portion through the second edge cloud; Comparing the first lifting speed with the second lifting speed using the central cloud to obtain a second control variable; Obtaining a predetermined acceleration of a second hydraulic lifting member corresponding to the second portion, and generating a second control strategy in combination with the second control variable; The second part is synchronously raised and lowered controlled by the second control strategy.

7. The method for controlling synchronous lifting of large components with end-cloud collaboration as claimed in claim 6, characterized in that: Obtaining a predetermined acceleration of a second hydraulic lifting member corresponding to the second portion includes: Acquire a second electro-hydraulic proportional valve of the second hydraulic lifting member, wherein the second electro-hydraulic proportional valve has a second proportional valve control threshold; Acquire a second balancing valve of the second hydraulic lifting member, wherein the second balancing valve has a second balancing valve control threshold; Sequentially obtaining the response speeds of the second electro-hydraulic proportional valve and the second balancing valve, and recording them as the second proportional valve response speed and the second balancing valve response speed, respectively; The second proportional valve control threshold, the second balancing valve control threshold, the second proportional valve response speed, and the second balancing valve response speed are collaboratively analyzed to obtain the predetermined acceleration.

8. The method for controlling synchronous lifting of large components with end-cloud collaboration as claimed in claim 7, characterized in that: After collaboratively analyzing the second proportional valve control threshold, the second balancing valve control threshold, the second proportional valve response speed, and the second balancing valve response speed to obtain the predetermined acceleration, the method further includes: obtaining a second viscosity of the hydraulic oil in the second hydraulic lifting member; The predetermined acceleration is corrected and adjusted using the normalized second viscosity as a correction coefficient.

9. The method for controlling synchronous lifting of large components with end-cloud collaboration as claimed in claim 1, characterized in that: The method further comprises: using the synchronous control reference as a constraint, performing synchronous lifting control on the second part through the central cloud; activating a first image collector disposed on the first hydraulic lifting member to collect a dynamic image of the first part to obtain a first image; constructing a real-time point cloud model of the large component based on the first image; The lifting and lowering of the large component is visualized through the real-time point cloud model.

10. A large-scale component synchronous lifting control system with end-cloud collaboration, characterized in that: The system is used to implement the end-cloud collaborative large-scale component synchronous lifting control method according to any one of claims 1 to 9, and the system includes: A control platform construction module, configured to construct an end-cloud collaborative control platform in communication with a hydraulic lifting device, wherein the hydraulic lifting device includes multiple sets of hydraulic lifting components, and the end-cloud collaborative control platform includes multiple edge clouds and a central cloud; a hydraulic lifting component extraction module, configured to extract a first hydraulic lifting component from the plurality of groups of hydraulic lifting components, wherein the first hydraulic lifting component is equipped with a first edge cloud from the plurality of edge clouds; a motion state analysis module, configured to analyze a first motion state of the first hydraulic lifting member through the first edge cloud to obtain a first lifting speed of a first portion, wherein the first portion is lifted and controlled by the first hydraulic lifting member; a target part determination module, configured to determine a target part based on the first lifting speed, and use the target part as a reference for synchronous control; The synchronous lifting control module is used to perform synchronous lifting control on the second part through the central cloud based on the synchronous control benchmark, wherein the second part refers to any part of the large component that is different from the first part.

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