A smart pairing system for wind turbine towers

Abstract

This invention provides an intelligent assembly system for wind turbine towers. Applied to the field of intelligent manufacturing technology for wind turbine towers, the system includes a measurement module and a motor control module. The measurement module is used for real-time point cloud mapping of the cylinders. The motor control module controls the forward distance of the roller frame based on the output of the measurement module. The measurement module includes a cylinder spacing measurement unit and a motor control signal output unit. The motor control module includes a motor position acquisition unit and a three-phase asynchronous motor control unit. The motor position acquisition unit outputs a motor control signal to the three-phase asynchronous motor control unit, and the three-phase asynchronous motor control unit outputs a motor control signal to the three-phase asynchronous motor. The motor position acquisition unit includes a three-phase asynchronous motor encoder and a first servo driver. The three-phase asynchronous motor encoder provides current motor running distance parameters, and the first servo driver controls the input of the motor control signal based on the current motor running distance parameters, which can improve the assembly efficiency of wind turbine towers.

Description

Technical Field

[0001] This invention relates to the field of intelligent processing technology for wind turbine towers, and in particular to an intelligent assembly system for wind turbine towers. Background Technology

[0002] As a key supporting structure for wind turbine generators, wind turbine towers are typically assembled and welded together on-site with high precision from multiple large-diameter cylindrical sections. The efficient and accurate assembly process directly impacts the construction cycle and project cost of wind farms. However, existing wind turbine tower assembly technologies rely heavily on manual operation and ordinary equipment, resulting in significant efficiency bottlenecks. Traditional assembly processes require repeated manual measurements of the spacing and misalignment between adjacent tower sections. Operators typically use measuring tapes, gap gauges, or single-point laser rangefinders for segmented measurements, leading to low efficiency and susceptibility to human error. Especially in the final fine-tuning stage, operators need to frequently enter the narrow space between the two tower sections for micro-measurement. This is not only time-consuming and labor-intensive, but also makes it difficult to obtain real-time three-dimensional data on the gap and misalignment of the complete circumference due to limited field of vision and insufficient accuracy of measuring tools. The repeated interruptions and corrections of the measurement actions greatly slow down the assembly progress. Existing assembly platforms often use ordinary drive roller frames to adjust the position of the tower sections. Their movement usually relies on the operator's experience and manual control commands, lacking closed-loop control based on real-time position data. Although ordinary three-phase asynchronous motors provide driving force, they lack high-precision position feedback and servo-level control capabilities. There is a cumulative error between the actual running distance of the motor and the target distance, which is difficult for operators to detect. The need for repeated start-stop cycles to approach the target position results in a slow adjustment process prone to over-adjustment, leading to an inefficient cycle of "measurement-adjustment-waiting-re-measurement" during assembly. Existing technologies lack automated measurement methods that can seamlessly connect different measurement ranges. For long-distance positioning, simple targets or visual alignment are typically used, resulting in limited accuracy. Switching to close-range precision measurement requires equipment replacement or manual intervention. This intermittent measurement and the difficulty in automatically correlating near and far measurement data lead to poor continuity and increased time consumption in the entire assembly process. Furthermore, the measurement system and actuators are independent, preventing real-time data sharing and linkage. Measurement results must be manually interpreted and converted into operational commands before being input into the control system to drive the motor. This human intermediary adds delay and uncertainty, hindering the integrated and rapid response of "measurement → analysis → drive." Therefore, existing wind turbine tower assembly technologies generally suffer from low efficiency, low automation, reliance on manual precision, and cumbersome and time-consuming close-range fine-tuning processes. There is an urgent need for an intelligent assembly technology solution that can achieve high-precision continuous distance measurement and directly drive the actuator for closed-loop precise control to significantly improve assembly efficiency. Summary of the Invention

[0003] This invention provides an intelligent assembly system for wind turbine towers. The system includes:

[0004] Measurement module and motor automatic control module;

[0005] The measurement module is used for real-time point cloud mapping within a distance of L meters between the cylinders; 0 < L < 1;

[0006] The motor control module is used to control the distance the roller frame moves forward based on the output of the measurement module;

[0007] The measurement module includes a cylinder spacing measurement unit and a motor control signal output unit;

[0008] The cylinder spacing measurement unit consists of a near-range measurement subunit and a far-range measurement subunit based on a line laser 3D camera. The far-range measurement subunit is used to measure the position signal of the first cylinder. When the roller frame approaches a preset distance, the near-range measurement subunit is activated. The near-range measurement subunit detects the relative position of the two cylinders and the distance between the gaps between the two cylinders.

[0009] The motor control module includes a motor position acquisition unit and a three-phase asynchronous motor control unit;

[0010] The motor position acquisition unit outputs a motor self-control signal to the three-phase asynchronous motor self-control unit, and the three-phase asynchronous motor self-control unit outputs a motor control signal to the three-phase asynchronous motor so that the three-phase asynchronous motor controls the travel distance of the roller frame. The motor position acquisition unit includes a three-phase asynchronous motor encoder and a first servo driver. The three-phase asynchronous motor encoder provides the current motor travel distance parameter, and the first servo driver controls the input of the motor control signal according to the current motor travel distance parameter. The three-phase asynchronous motor self-control unit includes a programmable logic controller and a second servo driver. The programmable logic controller controls the motor operation through the second servo driver according to the received motor self-control signal.

[0011] Furthermore, the workflow of the close-range measurement subunit includes:

[0012] The laser 3D camera is activated to scan, ensuring no areas are missed during the scan and acquiring data at different heights of the laser line.

[0013] The collected point cloud data is processed, including image processing, calibration, and analysis, to obtain the relative position and drop between the two cylinders.

[0014] The relative position and drop between the output cylinders are used as inputs to the motor control module to control the movement of the roller frame.

[0015] Furthermore, a PID algorithm for a dual closed-loop controller is designed in the motor automatic control module, specifically as follows:

[0016] Determine the required speed and position of the roller frame;

[0017] Select the hardware platform, including three-phase asynchronous motors, drivers, and PLC controllers;

[0018] Electrical and mechanical models were constructed based on the characteristics of the three-phase asynchronous motor and the dynamic characteristics of the roller frame.

[0019] Based on the speed requirements of the roller frame, an inner loop speed control and an outer loop position control are designed, and dual closed-loop control is implemented.

[0020] Complete the electrical connection between the hardware and the controller, and configure the communication protocol to ensure smooth data transmission;

[0021] Conduct initial system debugging to verify the performance of the control scheme;

[0022] Based on the trial operation results, the control parameters are analyzed and adjusted until the expected performance is achieved;

[0023] Design a control system to monitor the speed and position of a three-phase asynchronous motor for real-time data monitoring and processing;

[0024] The inner loop adjusts the motor input based on real-time feedback speed data, while the outer loop uses the control results of the inner loop to adjust the target position of the motor and guide the roller frame to the predetermined position.

[0025] Real-time monitoring of motor operating status, including temperature, current, and speed, and taking corresponding fault handling measures based on the monitoring results; including designing fault detection algorithms to detect faults in real time and ensure the safe operation of the system;

[0026] Conduct an overall performance evaluation and optimize control parameters based on the test results;

[0027] Record the system's operational status, including fault records, test records, and correction records, to form a complete system document for easy subsequent maintenance and management.

[0028] Furthermore, the motor position acquisition unit also includes two pull-rope encoders and a limit switch. The pull-rope encoders acquire control signals for the motor, and the limit switch acquires motor control signals input by the first servo driver, thereby acquiring and controlling the motor's running direction and control signals.

[0029] Further processing of the collected point cloud data includes: aligning image data collected from multiple viewpoints to establish a complete model of the 3D scene; generating a 3D model from the point cloud data and calculating the position of the outer wall of the cylinder and the drop of the gap; and outputting the gap value, the position of the outer wall of the cylinder, and the height of the cylinder by the measurement software.

[0030] Furthermore, it also includes: filtering point cloud data to remove noise and outliers; calculating the normal vector, curvature, and Gaussian value features of the points; aligning point cloud data from multiple viewpoints in the same scene to form a complete 3D model; and fusing the aligned point cloud data.

[0031] Furthermore, the motor position acquisition unit in the motor control module consists of two three-phase asynchronous motors and corresponding three-phase asynchronous motor encoders, which acquire the position signals of the three-phase asynchronous motors. The second servo driver uses the pre-set position of the three-phase asynchronous motor as the motor control signal input.

[0032] Furthermore, the programmable logic controller in the three-phase asynchronous motor control unit is equipped with a motor start signal, a motor stop signal, a second servo driver operation signal, a rope encoder stroke setting value, and a rope encoder position signal.

[0033] Furthermore, the programmable logic controller in the three-phase asynchronous motor automatic control unit is also equipped with a second servo driver control signal, a three-phase asynchronous motor target speed signal, a three-phase asynchronous motor actual speed signal, and an encoder target speed signal.

[0034] Furthermore, the programmable logic controller in the three-phase asynchronous motor control unit is also provided with a difference signal between the position signals of the two three-phase asynchronous motors.

[0035] Compared with existing technologies, the advantages of this invention are as follows: By using a laser 3D camera to form a dual measurement unit for both near and far distances, high-precision point cloud data of the cylinder spacing and relative position are acquired in real time, completely replacing the traditional manual process of repeated measurement and judgment, significantly shortening the measurement time and improving data accuracy and response speed; Based on the real-time high-precision data from the measurement module, the system forms a closed-loop control system through a PLC, encoder, and servo driver, automatically and accurately controlling a three-phase asynchronous motor to drive the roller frame forward to the target position, replacing the process of manual operation based on experience and repeated trial and error adjustment of the roller frame, greatly reducing adjustment time and number of adjustments; The entire process from long-distance positioning, close-range precision measurement to final closed-loop control to reach the target position is automatically executed by the system program, eliminating the uncertainty and delay of manual operation; By adopting a phased strategy of long-distance and close-range measurement, the limitations of a single sensor in terms of wide range and high precision are avoided, optimizing the efficiency of the approach stage while ensuring the final accuracy, thereby improving the assembly efficiency of wind turbine towers.

[0036] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0037] The above and other features, advantages, and aspects of the various embodiments of the present invention will become more apparent from the accompanying drawings and the following detailed description. The drawings are provided for a better understanding of the invention and are not intended to limit the scope of the invention. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0038] Figure 1 A block diagram of an intelligent pairing system for wind turbine towers according to an embodiment of the present invention is shown. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0041] Figure 1 A block diagram of an intelligent pairing system for wind turbine towers according to an embodiment of the present invention is shown, the system comprising:

[0042] Measurement module 110 and motor automatic control module 120;

[0043] The measurement module 110 is used for real-time point cloud mapping within a distance of 0.5 meters between cylinders;

[0044] The motor control module 120 is used to control the distance the roller frame moves forward based on the output of the measurement module 110;

[0045] The measurement module 110 includes a cylinder spacing measurement unit 111 and a motor control signal output unit 112;

[0046] The cylinder spacing measurement unit 111 consists of a near-range measurement subunit and a far-range measurement subunit based on a line laser 3D camera. The far-range measurement subunit is used to measure the position signal of the first cylinder. When the roller frame approaches the preset distance, the near-range measurement subunit is activated. The near-range measurement subunit detects the relative position of the two cylinders and the distance between the gaps between the two cylinders.

[0047] The motor control module 120 includes a motor position acquisition unit 121 and a three-phase asynchronous motor control unit 122;

[0048] The motor position acquisition unit 121 outputs a motor self-control signal to the three-phase asynchronous motor self-control unit 122, and the three-phase asynchronous motor self-control unit 122 outputs a motor control signal to the three-phase asynchronous motor so that the three-phase asynchronous motor controls the travel distance of the roller frame. The motor position acquisition unit 121 includes a three-phase asynchronous motor encoder and a first servo driver. The three-phase asynchronous motor encoder provides the current motor travel distance parameter, and the first servo driver controls the input of the motor control signal according to the current motor travel distance parameter. The three-phase asynchronous motor self-control unit 122 includes a programmable logic controller and a second servo driver. The programmable logic controller controls the motor operation through the second servo driver according to the received motor self-control signal.

[0049] According to embodiments of the present invention, by using a laser 3D camera (line laser) to form a dual measurement unit for both near and far distances, high-precision point cloud data of the cylinder spacing and relative position are acquired in real time, completely replacing the traditional manual process of repeated measurement and judgment, significantly shortening the measurement time and improving data accuracy and response speed. Based on the real-time high-precision data from the measurement module 110, the system forms a closed-loop control system through a PLC, encoder, and servo driver, automatically and accurately controlling a three-phase asynchronous motor to drive the roller frame forward to the target position, replacing the process of manual operation based on experience and repeated trial and error adjustment of the roller frame, greatly reducing adjustment time and number of adjustments. The entire process from long-distance positioning, close-range precision measurement to final closed-loop control to reach the target position is automatically executed by the system program, eliminating the uncertainty and delay of manual operation. By adopting a phased strategy of long-distance and close-range measurement, the limitations of a single sensor in terms of wide range and high precision are avoided, and the efficiency of the approach stage is optimized while ensuring the final accuracy, thereby improving the assembly efficiency of wind turbine towers.

[0050] In some embodiments, the near-field measurement subunit based on a line laser 3D camera can operate as follows:

[0051] Equipment preparation: Ensure all relevant equipment is working properly, including the connection of the line laser 3D camera and related hardware;

[0052] On-site setup: Install the line laser 3D camera at a suitable angle and distance to capture image data of the cylindrical surface at the optimal angle;

[0053] Scene setup: Minimize interference from other factors on measurement accuracy, ensure suitable ambient lighting, and avoid strong reflections and shadows;

[0054] Data acquisition: The laser 3D camera is activated to scan, ensuring that no area is missed during the scanning process and acquiring data at different heights of the laser line;

[0055] Data processing: The collected point cloud data is processed, including image processing, calibration, and analysis, to obtain the relative position and drop between the two cylinders;

[0056] Data output: Outputs the relative position and drop between the cylinders as input to the motor control module 120 to control the movement of the roller frame.

[0057] According to embodiments of the present invention, the speed of scanning and data processing is improved by reducing manual measurement and adjustment time; accurate point cloud data is provided by a line laser 3D camera to ensure the accuracy of the relative position and drop of the cylinders, reducing assembly errors and rework; real-time position adjustment is achieved by rapidly processing point cloud data and outputting results, which are then directly input into the automatic control module, shortening the assembly cycle; measurement reliability is improved by optimizing scene settings, avoiding measurement failures or delays caused by external factors; and seamless connection between equipment preparation, acquisition, processing, and output steps reduces operational interruptions and improves the overall process continuity, thereby improving the assembly efficiency of wind turbine towers.

[0058] In some embodiments, the motor control module 120 is designed with a PID algorithm for a dual closed-loop controller, specifically as follows:

[0059] Determine the required speed and position of the roller frame;

[0060] Choose a suitable hardware platform, including three-phase asynchronous motors, drivers, and PLC controllers;

[0061] Model building: Electrical and mechanical models were built based on the characteristics of the three-phase asynchronous motor and the dynamic characteristics of the roller frame;

[0062] Control scheme design: Based on the speed requirements of the roller frame, an inner loop speed control and an outer loop position control are designed, and a suitable algorithm is selected for dual closed-loop control;

[0063] Hardware connection and parameter settings: Complete the electrical connection between the hardware and the controller, and configure the communication protocol to ensure smooth data transmission;

[0064] System trial operation: Conduct preliminary system debugging and verify the performance of the control scheme;

[0065] Parameter adjustment and optimization: Based on the trial operation results, the control parameters are analyzed and adjusted until the expected performance is achieved;

[0066] Data Acquisition and Processing: Design a control system to monitor the speed and position of a three-phase asynchronous motor for real-time monitoring and data processing;

[0067] Control execution and feedback: The inner loop adjusts the motor input based on the real-time feedback speed data, while the outer loop uses the control results of the inner loop to adjust the target position of the motor and guide the roller frame to the predetermined position;

[0068] System monitoring and fault handling: Real-time monitoring of motor operating status, including temperature, current, and speed, and taking corresponding fault handling measures based on monitoring results; including designing fault detection algorithms to detect faults in real time and ensure the safe operation of the system;

[0069] Performance evaluation and optimization: Conduct an overall performance evaluation and optimize control parameters based on the test results;

[0070] System documentation: Records the system's operation status, including fault records, test records, and correction records, forming a complete system documentation to facilitate subsequent maintenance and management.

[0071] According to embodiments of the present invention, a dual-loop PID algorithm (inner loop speed control, outer loop position control) ensures that the roller frame moves quickly and accurately to the target position, reducing manual adjustment and rework time; a data acquisition and processing system monitors motor speed and position in real time, allowing for immediate correction of deviations, preventing error accumulation, and improving operational smoothness; fault detection algorithms and status monitoring (such as temperature and current) promptly identify and address problems, reducing unexpected downtime and ensuring continuous operation; through trial operation, adjustment, and performance evaluation, control parameters are optimized to adapt to actual working conditions, maximizing system response efficiency and stability; by reducing manual intervention and automating position guidance and motion control, the assembly process is accelerated; and by documenting operational data, rapid fault diagnosis and preventative maintenance are facilitated, reducing the risk of long-term downtime, thereby improving the assembly efficiency of wind turbine towers.

[0072] In some embodiments, the motor position acquisition unit 121 further includes two pull-rope encoders and a limit switch. The pull-rope encoders acquire control signals for the motor, and the limit switch acquires motor control signals input by the first servo driver, thereby acquiring and controlling the motor running direction and control signals.

[0073] According to embodiments of the present invention, two pull-rope encoders provide real-time, high-precision motor displacement measurement signals, directly reflecting the movement position of the controlled tower components, thus achieving precise closed-loop control. Limit switches directly acquire motor movement direction signals and detect extreme positions, providing physical limit protection to prevent overtravel collisions, ensuring safety and avoiding downtime caused by accidents. Real-time acquisition of motor control signal direction information ensures the motor rotates correctly according to instructions, avoiding rework and adjustment time wasted due to directional errors. Centralized acquisition and control of motor running direction, control commands, and actual position improves system response speed and coordination, reducing manual intervention and misjudgments. Precise position feedback and reliable direction control significantly reduce the risk of inaccurate tower segment alignment or collisions requiring repeated adjustments, increasing the first-time assembly success rate and thus improving the assembly efficiency of wind turbine towers.

[0074] In some embodiments, processing the acquired point cloud data includes: aligning image data acquired from multiple viewpoints to establish a complete model of the 3D scene; generating a three-dimensional model from the point cloud data and calculating the position of the outer wall of the cylinder and the drop of the gap; after processing the measurement results, the measurement software outputs the gap value, the position of the outer wall of the cylinder, and the height of the cylinder, and records the above data in the measurement log in the form of a chart for later retrieval.

[0075] According to embodiments of the present invention, by automatically aligning multi-viewpoint images and constructing a complete 3D model, the tedious process of manual measurement is avoided, significantly shortening the data acquisition and processing cycle; by generating a 3D model based on point cloud data and calculating key parameters, dimensional accuracy is ensured, reducing assembly errors and rework; by directly outputting the difference value and key parameters through measurement software and recording them in the log in the form of charts, it is easy to call up in real time and for subsequent reference, simplifying assembly planning and troubleshooting, thereby improving the assembly efficiency of wind turbine towers.

[0076] In some embodiments, the method further includes: filtering the point cloud data to remove noise and outliers, making the point cloud surface smoother; calculating the normal vector, curvature, Gaussian value and other features of the points to highlight the key parts of the point cloud data; aligning the point cloud data from multiple viewpoints of the same scene to form a complete 3D model; and fusing the aligned point cloud data to improve the overall model quality.

[0077] According to embodiments of the present invention, by filtering point cloud data to remove noise and outliers, the point cloud surface becomes smoother. Reducing data noise and outliers improves the accuracy and reliability of point cloud data, thereby reducing the error rate in subsequent processing and accelerating model building. Feature extraction can quickly identify key geometric regions, avoiding redundant data processing and improving the processing efficiency of key parts. Eliminating viewpoint blind spots and missing data ensures model integrity and reduces trial and error and adjustment time during assembly. Data fusion reduces redundancy and improves model consistency and accuracy, ensuring more reliable virtual assembly simulation, reducing the rework rate of physical assembly, and thus improving the assembly efficiency of wind turbine towers.

[0078] In some embodiments, the motor position acquisition unit 121 in the motor control module 120 consists of two three-phase asynchronous motors and corresponding three-phase asynchronous motor encoders, which acquire the position signals of the three-phase asynchronous motors. The first servo driver uses the preset position of the three-phase asynchronous motor as the motor control signal input.

[0079] According to embodiments of the present invention, two sets of motor systems with encoders can automatically and accurately control the axial rotation and / or radial movement of the tower section, replacing time-consuming and labor-intensive manual hoisting, prying, fine-tuning and other alignment operations; the entire process greatly reduces the need for operators to make alignment judgments and manual adjustments, which is not only faster, but also reduces labor intensity and improves the consistency and reliability of the results, thereby improving the assembly efficiency of wind turbine towers.

[0080] In some embodiments, the programmable logic controller in the three-phase asynchronous motor control unit 122 is provided with input signals such as motor start signal, motor stop signal, first servo driver operation signal, rope encoder stroke setting value, and rope encoder position signal.

[0081] In some embodiments, the programmable logic controller in the three-phase asynchronous motor control unit 122 is further provided with a second servo driver control signal, a three-phase asynchronous motor target speed signal, a three-phase asynchronous motor actual speed signal, and an encoder target speed signal.

[0082] In some embodiments, the programmable logic controller in the three-phase asynchronous motor control unit 122 is further provided with a difference signal between the two three-phase asynchronous motor position signals.

[0083] In some embodiments, the programmable logic controller in the three-phase asynchronous motor control unit 122 further includes a signal indicating whether the pull rope encoder is running.

[0084] In some embodiments, the start control signal of the three-phase asynchronous motor in the three-phase asynchronous motor automatic control unit 122 is the rope encoder operation signal. When the rope encoder is stopped, the input of the limit switch signal is activated, and the three-phase asynchronous motor is controlled to run.

[0085] It should be understood that the various processes described above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein. The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An intelligent assembly system for wind turbine towers, characterized in that, include: Measurement module and motor automatic control module; The measurement module is used for real-time point cloud mapping within a distance of L meters between cylinders; 0＜L＜1； The motor control module is used to control the distance the roller frame moves forward based on the output of the measurement module; The measurement module includes a cylinder spacing measurement unit and a motor control signal output unit; The cylinder spacing measurement unit consists of a near-range measurement subunit and a far-range measurement subunit based on a line laser 3D camera. The far-range measurement subunit is used to measure the position signal of the first cylinder. When the roller frame approaches a preset distance, the near-range measurement subunit is activated. The near-range measurement subunit detects the relative position of the two cylinders and the distance between the gaps between the two cylinders. The motor control module includes a motor position acquisition unit and a three-phase asynchronous motor control unit; The motor position acquisition unit outputs a motor self-control signal to the three-phase asynchronous motor self-control unit, and the three-phase asynchronous motor self-control unit outputs a motor control signal to the three-phase asynchronous motor so that the three-phase asynchronous motor controls the travel distance of the roller frame. The motor position acquisition unit includes a three-phase asynchronous motor encoder and a first servo driver. The three-phase asynchronous motor encoder provides the current motor travel distance parameter, and the first servo driver controls the input of the motor control signal according to the current motor travel distance parameter. The three-phase asynchronous motor self-control unit includes a programmable logic controller and a second servo driver. The programmable logic controller controls the motor operation through the second servo driver according to the received motor self-control signal.

2. The intelligent assembly system for wind turbine towers according to claim 1, characterized in that, The workflow of the close-range measurement subunit includes: The laser 3D camera is activated to scan, ensuring no areas are missed during the scan and acquiring data at different heights of the laser line. The collected point cloud data is processed, including image processing, calibration, and analysis, to obtain the relative position and drop between the two cylinders. The relative position and drop between the output cylinders are used as inputs to the motor control module to control the movement of the roller frame.

3. The intelligent assembly system for wind turbine towers according to claim 2, characterized in that, The motor automatic control module incorporates a PID algorithm designed for a dual closed-loop controller, specifically as follows: Determine the required speed and position of the roller frame; Select the hardware platform, including three-phase asynchronous motors, drivers, and PLC controllers; Electrical and mechanical models were constructed based on the characteristics of the three-phase asynchronous motor and the dynamic characteristics of the roller frame. Based on the speed requirements of the roller frame, an inner loop speed control and an outer loop position control are designed, and dual closed-loop control is implemented. Complete the electrical connection between the hardware and the controller, and configure the communication protocol to ensure smooth data transmission; Conduct initial system debugging to verify the performance of the control scheme; Based on the trial operation results, the control parameters are analyzed and adjusted until the expected performance is achieved; Design a control system to monitor the speed and position of a three-phase asynchronous motor for real-time data monitoring and processing; The inner loop adjusts the motor input based on real-time feedback speed data, while the outer loop uses the control results of the inner loop to adjust the target position of the motor and guide the roller frame to the predetermined position. Real-time monitoring of the motor's operating status, including temperature, current, and speed, and taking corresponding fault handling measures based on the monitoring results; This includes designing fault detection algorithms to detect faults in real time and ensure the safe operation of the system; Conduct an overall performance evaluation and optimize control parameters based on the test results; Record the system's operational status, including fault records, test records, and correction records, to form a complete system document, which will facilitate subsequent maintenance and management.

4. The intelligent assembly system for wind turbine towers according to claim 3, characterized in that, The motor position acquisition unit also includes two pull-rope encoders and a limit switch. The pull-rope encoders acquire control signals for the motor, and the limit switch acquires motor control signals input by the first servo driver, thereby acquiring and controlling the motor's running direction and control signals.

5. The intelligent assembly system for wind turbine towers according to claim 4, characterized in that, The processing of the collected point cloud data includes: aligning image data collected from multiple viewpoints to establish a complete model of the 3D scene; generating a 3D model from the point cloud data and calculating the position of the outer wall of the cylinder and the height difference of the gap; and outputting the gap value, the position of the outer wall of the cylinder, and the height of the cylinder by the measurement software.

6. The intelligent assembly system for wind turbine towers according to claim 5, characterized in that, Also includes: Filter the point cloud data to remove noise and outliers; Calculate the normal vector, curvature, and Gaussian value of a point; Align point cloud data from multiple viewpoints in the same scene to form a complete 3D model; then fuse the aligned point cloud data.

7. The intelligent assembly system for wind turbine towers according to claim 6, characterized in that, The motor position acquisition unit in the motor control module consists of two three-phase asynchronous motors and corresponding three-phase asynchronous motor encoders. It acquires the position signals of the three-phase asynchronous motors, and the first servo driver uses the pre-set position of the three-phase asynchronous motors as the motor control signal input.

8. The intelligent assembly system for wind turbine towers according to claim 7, characterized in that, The programmable logic controller in the three-phase asynchronous motor automatic control unit is equipped with a motor start signal, a motor stop signal, a second servo driver operation signal, a rope encoder stroke setting value, and a rope encoder position signal.

9. The intelligent assembly system for wind turbine towers according to claim 8, characterized in that, The programmable logic controller in the three-phase asynchronous motor automatic control unit is also equipped with a second servo driver control signal, a three-phase asynchronous motor target speed signal, a three-phase asynchronous motor actual speed signal, and an encoder target speed signal.

10. The intelligent assembly system for wind turbine towers according to claim 9, characterized in that, The programmable logic controller in the three-phase asynchronous motor automatic control unit is also equipped with a difference signal between the position signals of the two three-phase asynchronous motors.

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