Virtual simulation and space collision early warning method for hoisting path of gas turbine unit

Abstract

The invention discloses a virtual simulation and space collision early warning method for a gas turbine unit hoisting path, and belongs to the technical field of engineering assistion.The method comprises the steps that firstly, models of a gas turbine unit, hoisting equipment and an operation environment are built through high-precision three-dimensional modeling, and an initial hoisting path is planned based on the models; subsequently, the hoisting process is simulated through virtual simulation, preliminary collision detection is carried out, and the path is verified and optimized, so that an optimized hoisting path which is free of collision in a simulation system and meets a safe distance is generated, and the reliability and the safety of the scheme are remarkably improved. The whole-course intelligent safety guarantee of hoisting operation from planning to execution is achieved, collision accidents are effectively avoided, and engineering risks and economic losses are greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of engineering assistance, and particularly relates to a virtual simulation and spatial collision early warning method for hoisting path of gas turbine unit. BACKGROUND

[0002] The hoisting operation of large and heavy equipment such as gas turbine unit is a complex and high-risk engineering activity. The traditional hoisting path planning and scheme demonstration often highly depend on the experience of engineers, two-dimensional drawings or simplified physical models, and lack the ability to accurately predict the possible spatial interference and collision in the hoisting process. Although some simulation technologies have been tried to be applied in this field, these existing systems usually have limitations, such as failing to establish a high-precision three-dimensional model to fully reflect the complex geometric characteristics of the equipment, environment and hoisting tools, or the simulation process cannot effectively simulate the potential collision points in the dynamic movement, resulting in that the planned path may not be optimal, and even there may be undiscovered safety hazards, making it difficult to fully verify the feasibility and safety of the path before actual operation.

[0003] In addition, during the actual execution of the hoisting operation, it is still a big challenge for the industry to accurately monitor and dynamically predict the real-time spatial state of the gas turbine unit, hoisting equipment and its surrounding complex environment. The existing technologies usually lack integrated real-time position and attitude measurement means, making it difficult to continuously and accurately obtain dynamic data of the operation object. Even if some systems can provide basic near-field warning, they often stay at the passive response level, and cannot conduct forward-looking collision risk assessment and prediction combined with accurate three-dimensional models, and it is even more difficult to provide timely and intelligent avoidance suggestions before potential danger occurs. This hysteresis and incompleteness significantly increases the risk of hoisting operation, and once a collision occurs, it may cause equipment damage, personnel injury and huge economic loss. SUMMARY

[0004] In view of the above problems existing in the prior art, the purpose of the present application is to provide a virtual simulation and spatial collision early warning method for hoisting path of gas turbine unit, which comprises the following steps, Step S1, three-dimensional data acquisition and modeling are performed to obtain a three-dimensional model of the gas turbine unit, a three-dimensional model of the hoisting operation environment and a three-dimensional model of the hoisting equipment.

[0005] Step S2, hoisting path planning is performed to determine an initial hoisting path from the lifting point to the landing point based on the three-dimensional model of the gas turbine unit, the three-dimensional model of the hoisting operation environment and the three-dimensional model of the hoisting equipment.

[0006] Step S3, virtual simulation is performed to simulate the movement process of the gas turbine unit and the hoisting equipment in the hoisting operation environment according to the initial hoisting path, and preliminary collision detection is performed.

[0007] Step S4, path verification and optimization are performed to optimize the initial lifting path according to the preliminary collision detection result, so as to obtain an optimized lifting path.

[0008] Further, the spatial collision early warning method comprises the following steps, Step Y1, real-time data acquisition is performed to collect spatial position and attitude data of key points in the gas turbine unit, lifting equipment and lifting operation environment in real time through a spatial position and attitude measuring device.

[0009] Step Y2, real-time spatial mapping and state updating are performed to map the real-time acquired spatial position and attitude data to the established three-dimensional model of the gas turbine unit, three-dimensional model of the lifting equipment and three-dimensional model of the lifting operation environment, and to update the state of the gas turbine unit and the lifting equipment in the three-dimensional space in real time.

[0010] Step Y3, collision risk assessment and prediction are performed to calculate the minimum safety distance or collision occurrence time between the gas turbine unit, the lifting equipment and the fixed obstacles in the lifting operation environment based on the real-time updated spatial state.

[0011] Step Y4, according to the minimum safety distance or collision occurrence time and the preset early warning threshold, it is judged whether there is a potential collision risk, and if there is a potential collision risk, an early warning signal is issued and avoidance suggestions are provided.

[0012] Further, the step S1 comprises: Step S101, a three-dimensional model of the gas turbine unit is established, including obtaining its accurate geometric dimensions, mass distribution and structural characteristics.

[0013] Step S102, a three-dimensional model of the lifting operation environment is established, including obtaining its actual spatial layout, obstacle distribution and structural size.

[0014] Step S103, a three-dimensional model of the lifting equipment is established, including establishing a movable three-dimensional model of the lifting equipment including the crane boom, hook, wire rope and sling, and setting its kinematics and dynamics parameters.

[0015] Further, in the step S2, the lifting point and the landing point of the gas turbine unit are set; through a path planning algorithm, the initial lifting path is generated according to the lifting point, the landing point and the three-dimensional model.

[0016] Further, the step S3 comprises: Step S301, the three-dimensional model of the gas turbine unit, the three-dimensional model of the lifting equipment and the three-dimensional model of the lifting operation environment are loaded in the virtual simulation system, and the initial lifting path is imported.

[0017] Step S302, the virtual simulation system renders the process of the gas turbine unit and the hoisting equipment moving in the hoisting operation environment according to the initial hoisting path in real time, and synchronously updates the dynamic parameters of each component of the hoisting equipment.

[0018] Step S303, the virtual simulation system performs pre-collision detection between the gas turbine unit, each component of the hoisting equipment and the fixed obstacles in the hoisting operation environment in real time, and records the detected potential collision points.

[0019] Further, in step S4, the results of the virtual simulation process are analyzed to identify collision risk points or unreasonable path segments; if there is a collision risk or unreasonable path, the key nodes or path parameters in the initial hoisting path are adjusted until an optimized hoisting path is generated, which has no collision in the virtual simulation system, meets the safety distance requirement and has feasibility.

[0020] Further, spatial position and attitude measuring devices are deployed on the main active components of the gas turbine unit and the hoisting equipment and the main fixed obstacles in the hoisting operation environment; the spatial position and attitude measuring devices collect the spatial position and attitude data of the gas turbine unit, each component of the hoisting equipment and the main fixed obstacles in the hoisting operation environment in real time, and transmit the spatial position and attitude data to the data processing unit.

[0021] Further, step Y2 includes: Step Y201 filters, calibrates and synchronizes the real-time acquired spatial position and attitude data.

[0022] Step Y202, the data processing unit maps the pre-processed real-time spatial position and attitude data to the three-dimensional model of the gas turbine unit, the three-dimensional model of the hoisting equipment and the three-dimensional model of the hoisting operation environment, and updates the accurate position and attitude of the gas turbine unit and the hoisting equipment in the three-dimensional space in real time.

[0023] Further, the data processing unit dynamically establishes a safety buffer zone or bounding box around the gas turbine unit, the hoisting equipment and its surroundings, and performs near-field detection on the buffer zone or bounding box and the fixed obstacles in the hoisting operation environment; when the proximity relationship between the buffer zone or bounding box and the obstacles is detected, the minimum safety distance or collision occurrence time of the gas turbine unit, the hoisting equipment and the fixed obstacles in the hoisting operation environment is calculated by a continuous collision detection algorithm combined with the current motion trajectory and the predicted motion trajectory of the hoisting operation.

[0024] Further, it also includes priority allocation for the hoisting operation, which is calculated according to the following formula: Wherein, represents the comprehensive priority of the hoisting operation; represents a hoisting operation collision risk level based on the virtual simulation method; represents a hoisting operation impact index on gas turbine unit power generation load; represents a planned remaining completion time of the hoisting operation; represents a hoisting operation criticality to personnel life safety and equipment safety; represents a weight coefficient for adjusting the proportion of each parameter in the total priority calculation.

[0025] Compared with the prior art, the present application has the beneficial effects that: the present application can accurately predict and avoid potential spatial collision risks before actual operation by establishing a high-precision three-dimensional model of the gas turbine unit, hoisting equipment and operation environment before operation, and simulating the hoisting process in the virtual simulation system. This method not only effectively solves the safety hazards caused by incomplete information or insufficient simulation in the traditional planning method, but also verifies and optimizes the initial path based on the preliminary collision detection results, thereby generating an optimized hoisting path that is collision-free, meets the safety distance requirements and has high feasibility, greatly improving the safety and efficiency of the hoisting scheme and effectively reducing the risk and cost of project implementation.

[0026] In actual hoisting operation, the present application can dynamically update the object state in the three-dimensional model through real-time acquisition of spatial position and attitude data, and perform high-precision and forward-looking collision risk assessment and prediction. This overcomes the passive response defect of the prior art, can timely issue a warning signal before potential collision occurs, and combines with the operation priority to provide intelligent avoidance suggestions, significantly improving the real-time safety guarantee level of hoisting operation and effectively avoiding the risk of equipment damage and personnel casualties caused by unexpected situations. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 An exemplary step flowchart of the virtual simulation method of the present application.

[0028] Figure 2 An exemplary step flowchart of the spatial collision warning method of the present application.

[0029] Figure 3 An exemplary step flowchart of establishing a three-dimensional data model of the present application.

[0030] Figure 4 An exemplary step flowchart of executing virtual simulation of the present application.

[0031] Figure 5 An exemplary step flowchart of spatial mapping and state updating of the present application. DETAILED DESCRIPTION

[0032] The application will be further described in conjunction with specific embodiments.

[0033] The embodiment of the application provides a virtual simulation and space collision early warning method for a gas unit hoisting path, as shown in the figure. Figure 1 As shown in the figure, an exemplary flowchart of the virtual simulation method of the embodiment includes the following steps. Step S1, three-dimensional data acquisition and modeling are performed to obtain a three-dimensional model of the gas unit, a three-dimensional model of a hoisting operation environment and a three-dimensional model of hoisting equipment; in an embodiment, this step aims to provide an accurate digital basis for subsequent simulation and analysis. Data acquisition can be achieved through various technologies, and examples can include laser scanning, photogrammetry, computer-aided design model import, etc. The modeling process converts these raw data into three-dimensional models that can be operated and analyzed in a virtual environment, ensuring that they can be accurately recognized and processed by the simulation system.

[0034] As shown in the figure, an exemplary flowchart of the virtual simulation method of the embodiment includes the following steps. Figure 3 As shown in the figure, an exemplary flowchart of the virtual simulation method of the embodiment includes the following steps. Step S101, a three-dimensional model of the gas unit is established, including obtaining its accurate geometric dimensions, mass distribution and structural characteristics; in an embodiment, the three-dimensional model of the gas unit is critical. Its geometric dimensions should accurately reflect the actual shape of the unit in order to perform accurate collision detection. Mass distribution information is crucial for simulating its dynamic behavior during hoisting. Structural characteristics may include connection points, center of gravity positions and possible flexible parts in order to accurately reflect its physical properties in simulation. Exemplarily, these models can be stored and managed in common 3D file formats.

[0035] Step S102, a three-dimensional model of the hoisting operation environment is established, including obtaining its actual spatial layout, obstacle distribution and structural dimensions; in an embodiment, the three-dimensional model of the hoisting operation environment should reflect the real operation space as much as possible. This includes but is not limited to site ground, walls, columns, pipelines, cables, other equipment, personnel activity areas and any fixed or semi-fixed obstacles that may obstruct the hoisting path. The structural dimensions and accurate positions of the obstacles are the basis for collision detection, and exemplarily, point cloud data, BIM models or CAD drawings can be used for high-precision modeling, and key obstacles can be accurately labeled.

[0036] Step S103, a three-dimensional model of the hoisting equipment is established, including the establishment of the movable three-dimensional model of the hoisting equipment including the hoisting arm, the hook, the steel wire rope and the lifting tool, and the setting of its kinematics and dynamics parameters. In an embodiment, the three-dimensional model of the hoisting equipment should contain all its key movable parts, such as the hoisting arm of the crane, the hook, the length and path of the steel wire rope, and the lifting tool connected with the gas turbine unit. The model of these parts not only needs geometric information, but also needs to define its kinematics and dynamics parameters, so as to accurately simulate its real motion posture and ability in simulation. Exemplarily, the model data provided by the crane manufacturer or generated by parameterized modeling can be integrated, to ensure the accuracy and controllability of the model.

[0037] Step S2, hoisting path planning is performed to determine the initial hoisting path from the lifting point to the landing point based on the three-dimensional model of the gas turbine unit, the three-dimensional model of the hoisting operation environment and the three-dimensional model of the hoisting equipment.

[0038] Step S3, virtual simulation is performed to simulate the movement process of the gas turbine unit and the hoisting equipment in the hoisting operation environment according to the initial hoisting path, and preliminary collision detection is performed; in an embodiment, the virtual simulation is a dynamic simulation of the real movement process of the gas turbine unit and the hoisting equipment in the operation environment according to the initial hoisting path planned in S2 in a three-dimensional visualization environment.

[0039] As Figure 4 An exemplary step flow chart of the virtual simulation performed in step S3 is shown, which includes: Step S301, load the three-dimensional model of the gas turbine unit, the three-dimensional model of the hoisting equipment and the three-dimensional model of the hoisting operation environment in the virtual simulation system, and import the initial hoisting path; the loading process will ensure that all the key objects and their attributes established in S1 are correctly imported into the virtual simulation software or platform. The imported initial hoisting path will be used as simulation driving data to accurately control the motion trajectory of the gas turbine unit and the hoisting equipment.

[0040] Step S302, the virtual simulation system renders the movement process of the gas turbine unit and the hoisting equipment in the hoisting operation environment in real time according to the initial hoisting path, and synchronously updates the dynamic parameters of the components of the hoisting equipment; in an embodiment, real-time rendering is to provide intuitive visual effects, so that the operator or analyst can clearly see the progress and potential problems of the hoisting process, so as to find unreasonable places in the path in advance. Synchronous updating of dynamic parameters means that the kinematics and dynamics parameters of the components of the hoisting equipment will change during the movement of the hoisting equipment, and these changes will be fed back to the model in real time, to ensure the reality and accuracy of the simulation.

[0041] Step S303, the virtual simulation system performs real-time pre-collision detection between the gas turbine unit, hoisting equipment components and fixed obstacles in the hoisting operation environment, and records the detected potential collision points.

[0042] Step S4, path verification and optimization are performed to optimize the initial hoisting path according to the preliminary collision detection results, and an optimized hoisting path is obtained.

[0043] In one embodiment, the S4 step is an evaluation and optimization phase of the S3 virtual simulation results. The system analyzes all recorded collision points and unreasonable path segments, and based on this information, iteratively modifies the initial hoisting path. Optimization strategies can include adjusting key intermediate points on the path, changing hoisting speed or attitude, or fine-tuning hoisting equipment motion parameters. This process continues until a final optimized hoisting path is found that has no collision, meets all safety distance requirements, and has high feasibility in actual operation. Exemplarily, the optimization algorithm can use genetic algorithm, particle swarm optimization, simulated annealing or gradient-based optimization method to minimize collision risk and path length, while considering operation smoothness.

[0044] As Figure 2 is an exemplary step flowchart of the space collision warning method of the present embodiment, comprising the following steps, Step Y1, real-time data acquisition is performed to collect real-time spatial position and attitude data of key points in the gas turbine unit, hoisting equipment and hoisting operation environment through spatial position and attitude measurement devices; this step continuously and frequently collects the current real-time three-dimensional coordinates and attitude of each key object through spatial position and attitude measurement devices deployed on each key object. These data are the cornerstone of subsequent real-time collision risk assessment, ensuring the timeliness and accuracy of the warning.

[0045] Step Y2, real-time space mapping and state updating are performed to map the real-time acquired spatial position and attitude data to the established three-dimensional models of the gas turbine unit, hoisting equipment and hoisting operation environment, and to update the state of the gas turbine unit and hoisting equipment in three-dimensional space in real time.

[0046] Step Y3, collision risk assessment and prediction are performed to calculate the minimum safety distance or collision occurrence time between the gas turbine unit, hoisting equipment and fixed obstacles in the hoisting operation environment based on the real-time updated spatial state.

[0047] Step Y4, based on the minimum safety distance or collision occurrence time and the preset warning threshold, it is judged whether there is a potential collision risk, and if there is a potential collision risk, a warning signal is issued and avoidance suggestions are provided.

[0048] In one embodiment, the system compares the calculated minimum safe distance and the time to collision with a plurality of preset warning thresholds to determine the risk level. For example, different levels of thresholds can be set: when the distance is less than a first threshold, a "caution" level warning is issued; when the distance is less than a second threshold, a "warning" level warning is issued; when the predicted time to collision is less than a certain value, an "emergency stop" warning is issued. When a potential collision risk is determined, the system will immediately issue a warning signal through various means, for example, which can include audible and visual alarms, screen pop-up prompts, vibration feedback, voice broadcast, or directly sending instructions to the crane control system. At the same time, the system will also intelligently provide avoidance suggestions based on the current risk type and lifting path, such as suggesting the lifting operator to pause, adjust the lifting speed, fine-tune the lifting path, or take emergency braking, etc., to guide the operator to take timely measures to avoid actual collision and ensure job safety.

[0049] In step S2, the lifting point and the landing point of the gas turbine unit are set; and an initial lifting path is generated according to the lifting point, the landing point and the three-dimensional model through a path planning algorithm.

[0050] In step S4, the results of the virtual simulation process are analyzed to identify collision risk points or unreasonable path segments; if there is a collision risk or unreasonable path, the key nodes or path parameters in the initial lifting path are adjusted until an optimized lifting path is generated, which has no collision in the virtual simulation system, meets the safety distance requirements and is feasible.

[0051] Space position and attitude measurement devices are deployed on the main moving parts of the gas turbine unit and the lifting equipment, as well as the main fixed obstacles in the lifting operation environment; the space position and attitude measurement devices collect the space position and attitude data of the gas turbine unit, the lifting equipment and the main fixed obstacles in the lifting operation environment in real time, and transmit the space position and attitude data to the data processing unit.

[0052] As Figure 5 An exemplary step flow chart of the space mapping and state updating in step Y2 of the present embodiment is shown in the figure, which includes: Step Y201 filters, calibrates and synchronizes the real-time acquired space position and attitude data.

[0053] In step Y202, the data processing unit maps the pre-processed real-time space position and attitude data to the three-dimensional model of the gas turbine unit, the three-dimensional model of the lifting equipment and the three-dimensional model of the lifting operation environment, and updates the accurate position and attitude of the gas turbine unit and the lifting equipment in the three-dimensional space in real time.

[0054] The data processing unit establishes a safety buffer zone or bounding box around the gas turbine unit, the hoisting equipment and its surrounding dynamic environment, and performs near-field detection on the buffer zone or bounding box and fixed obstacles in the hoisting operation environment; when the proximity relationship between the buffer zone or bounding box and the obstacles is detected, the minimum safety distance or collision occurrence time of the gas turbine unit, the hoisting equipment and the fixed obstacles in the hoisting operation environment is calculated through a continuous collision detection algorithm combined with the current motion trajectory and the predicted motion trajectory of the hoisting operation.

[0055] It also includes priority allocation for hoisting operations, which is calculated according to the following formula: , In one embodiment, in order to more effectively manage and schedule hoisting operations, the system also allocates priorities according to their importance, risk level and time urgency. The calculated priority The higher the value, the more important or urgent the hoisting operation, thereby providing a quantitative basis for decision-makers.

[0056] wherein, represents the comprehensive priority of the hoisting operation; represents the collision risk level of the hoisting operation based on the virtual simulation method; represents the impact index of the hoisting operation on the power generation load of the gas turbine unit; represents the planned remaining completion time of the hoisting operation; represents the operation criticality of the hoisting operation to personnel life safety and equipment safety; represents the weight coefficient for adjusting the proportion of each parameter in the total priority calculation.

[0057] In one embodiment, the parameters and weights of the formula are defined as follows: represents the comprehensive priority of the hoisting operation, which is the final evaluation score for guiding the scheduling and resource allocation of the operation. The larger the value, the higher the priority, which should be handled or closely monitored first.

[0058] represents the collision risk level of the hoisting operation based on the virtual simulation method and real-time collision warning. In one embodiment, It can be a quantitative risk index, for example, it can be comprehensively evaluated according to the reciprocal of the minimum safety distance, the length of the predicted collision occurrence time, and the potential severity of the collision, etc. The higher the value, the greater the risk of collision, for example, the value range is 0 to 100.

[0059] represents the impact index of the hoisting operation on the power generation load of the gas turbine unit. For example, if the hoisting operation involves a running gas turbine unit or its important auxiliary system, its impact index The higher, the lower. This index can be quantified according to economic or operational indicators such as power generation, downtime loss, and impact on grid stability, for example, with a value range of 0 to 10.

[0060] Indicates the planned remaining completion time of the lifting operation. This is a time countdown item, ensuring that the tighter the time, the greater the impact on priority. For example, It can be calculated in hours, taking the inverse to reflect the time urgency, so that tasks that are about to expire have higher priority.

[0061] Indicates the operation criticality of the lifting operation to personnel life safety and equipment safety. This is a qualitative or semi-quantitative indicator, for example, involving high-altitude operations, heavy equipment operation, or operations that may cause permanent damage to equipment, with The higher the value, the higher the criticality. It can be set to a predefined criticality level, such as 1 (low risk), 3 (medium risk), 5 (high risk), etc.

[0062] Indicates the weight coefficient. These weight coefficients are configurable to balance the relative importance of each factor in the overall priority calculation. In one embodiment, these weights can be adjusted according to the focus of the actual application scenario. For example, in the lifting scenario of a nuclear power plant or a dangerous chemical plant with extremely high safety requirements, and Can be set higher; in scenarios where time pressure is high or power generation tasks are urgent, and Can be set higher. These weights are usually trained and optimized through expert experience, historical data analysis, or machine learning methods.

[0063] Those skilled in the art will understand that the above embodiments are only exemplary, and various modifications and equivalent replacements can be made without departing from the spirit and scope of the present application. For example, specific feature point algorithms, optimizer selection, distortion model details, etc. can be adjusted according to actual needs. Therefore, the scope of protection of the present application should be defined by the appended claims.

Claims

1. A virtual simulation and spatial collision warning method for a gas turbine unit hoisting path, characterized by: The virtual simulation method comprises the following steps: Step S1, performing three-dimensional data acquisition and modeling to obtain a three-dimensional model of the gas turbine unit, a three-dimensional model of the hoisting operation environment, and a three-dimensional model of the hoisting equipment; Step S2, performing hoisting path planning to determine an initial hoisting path from a lifting point to a landing point based on the three-dimensional model of the gas turbine unit, the three-dimensional model of the hoisting operation environment, and the three-dimensional model of the hoisting equipment; Step S3, performing virtual simulation to simulate the movement process of the gas turbine unit and the hoisting equipment in the hoisting operation environment according to the initial hoisting path, and performing preliminary collision detection; Step S4: performing path verification and optimization to optimize the initial hoisting path according to the preliminary collision detection result to obtain an optimized hoisting path.

2. The virtual simulation and spatial collision warning method for gas turbine unit hoisting path according to claim 1 is characterized by: The space collision warning method comprises the following steps: Step Y1, performing real-time data acquisition to collect spatial position and attitude data of key points of the gas unit, hoisting equipment, and hoisting operation environment in real time through a spatial position and attitude measurement device; Step Y2: Perform real-time spatial mapping and status update to map the spatial position and posture data acquired in real time to the established three-dimensional model of the gas turbine unit, the three-dimensional model of the hoisting equipment, and the three-dimensional model of the hoisting operation environment, and update the status of the gas turbine unit and the hoisting equipment in the three-dimensional space in real time; Step Y3: perform collision risk assessment and prediction to calculate the minimum safe distance or collision time between the gas unit, the lifting equipment, and fixed obstacles in the lifting operation environment based on the real-time updated spatial state; Step Y4 is to determine whether there is a potential collision risk based on the minimum safety distance or collision occurrence time and the preset warning threshold. If there is a potential collision risk, a warning signal is issued and avoidance suggestions are provided.

3. The virtual simulation and spatial collision warning method for gas turbine hoisting path according to claim 1 is characterized by: The step S1 comprises: Step S101, establishing a three-dimensional model of the gas turbine unit, including obtaining its precise geometric dimensions, mass distribution and structural characteristics; Step S102, establishing a three-dimensional model of the hoisting operation environment, including obtaining its actual spatial layout, obstacle distribution, and structural dimensions; Step S103 , establishing a three-dimensional model of the hoisting equipment, including establishing a movable three-dimensional model of the hoisting equipment including a boom, a hook, a wire rope, and a sling, and setting its kinematic and dynamic parameters.

4. The virtual simulation and spatial collision warning method for gas turbine unit hoisting path according to claim 1 is characterized in that: In step S2, the lifting point and the landing point of the gas turbine are set; and the initial lifting path is generated according to the lifting point, the landing point and the three-dimensional model through a path planning algorithm.

5. The virtual simulation and spatial collision warning method for gas turbine unit hoisting path according to claim 1 is characterized by: The step S3 comprises: Step S301, loading a three-dimensional model of the gas turbine unit, a three-dimensional model of the hoisting equipment, and a three-dimensional model of the hoisting operation environment into the virtual simulation system, and importing the initial hoisting path; Step S302, the virtual simulation system renders in real time the process of the gas turbine unit and the hoisting equipment moving in the hoisting operation environment according to the initial hoisting path, and synchronously updates the dynamic parameters of each component of the hoisting equipment; In step S303 , the virtual simulation system performs pre-collision detection between the gas turbine unit, the components of the hoisting equipment, and fixed obstacles in the hoisting operation environment in real time, and records detected potential collision points.

6. The virtual simulation and spatial collision warning method for gas turbine unit hoisting path according to claim 1 is characterized by: In step S4, the results of the virtual simulation process are analyzed to identify collision risk points or unreasonable path segments; if there is a collision risk or the path is unreasonable, the key nodes or path parameters in the initial lifting path are adjusted until an optimized lifting path is generated in the virtual simulation system that is collision-free, meets safety distance requirements, and is feasible.

7. The method for virtual simulation and spatial collision warning of a gas turbine unit hoisting path according to claim 2 is characterized in that: A spatial position and attitude measurement device is deployed on the main movable parts of the gas unit and hoisting equipment, as well as the main fixed obstacles in the hoisting operation environment; the spatial position and attitude measurement device collects the spatial position and attitude data of the gas unit, various parts of the hoisting equipment, and the main fixed obstacles in the hoisting operation environment in real time, and transmits the spatial position and attitude data to a data processing unit.

8. The method for virtual simulation and spatial collision warning of a gas turbine unit hoisting path according to claim 2 is characterized in that: The step Y2 comprises: Step Y201 filters, calibrates and synchronizes the spatial position and posture data acquired in real time; In step Y202, the data processing unit maps the pre-processed real-time spatial position and posture data to the three-dimensional model of the gas turbine unit, the three-dimensional model of the lifting equipment, and the three-dimensional model of the lifting operation environment, and updates the precise position and posture of the gas turbine unit and the lifting equipment in the three-dimensional space in real time.

9. The method for virtual simulation and spatial collision warning of a gas turbine unit hoisting path according to claim 8, characterized in that: The data processing unit dynamically establishes a safety buffer zone or bounding box around the gas unit, lifting equipment and their surroundings, and performs near-field detection on the buffer zone or bounding box and fixed obstacles in the lifting operation environment; when the proximity between the buffer zone or bounding box and the obstacle is detected, the minimum safety distance or collision time between the gas unit, lifting equipment and fixed obstacles in the lifting operation environment is calculated through a continuous collision detection algorithm in combination with the current motion trajectory and predicted motion trajectory of the lifting operation.

10. The method for virtual simulation and spatial collision warning of a gas turbine unit hoisting path according to claim 1, characterized in that: It also includes assigning priorities to the lifting operations, which are calculated according to the following formula: ,in, Indicates the overall priority of the lifting operation; Indicates the collision risk level of the lifting operation based on the virtual simulation method; Indicates the impact index of hoisting operation on the power generation load of gas turbine unit; Indicates the planned remaining completion time of the lifting operation; Indicates the criticality of lifting operations to the safety of personnel and equipment; Represents the weight coefficient, which is used to adjust the proportion of each parameter in the overall priority calculation.

Images