Tower assembling process dynamic simulation method based on double-rocker-arm derrick

Abstract

The invention discloses a tower assembling process dynamic simulation method based on a double-rocker-arm derrick, and the method comprises the steps: building a three-dimensional real scene based on aerial survey data, collecting derrick parameters, carrying out the modeling, setting a construction tower assembling simulation verification item, calculating the matrix change of a model and the derrick based on a kinematics principle, and carrying out the simulation of the tower assembling process. And dynamic simulation is completed, and hoisting weight, elevation angle and torque indexes are verified. According to the method, through a multi-source data fusion and parametric modeling technology, a high-precision construction environment and equipment model is constructed, and full-flow digital verification of a tower assembling process is realized; according to the method, the limitation of traditional static simulation is broken through, a visual verification platform is provided for a tower assembly construction scheme through deep fusion of three-dimensional environment real mapping, equipment model parameterization driving, real-time safety verification and kinematics simulation, the construction safety and scheme feasibility evaluation efficiency are effectively improved, and the method is suitable for popularization and application. The method is suitable for intelligent construction planning of power transmission line projects of different voltage levels.

Description

Technical Field

[0001] This invention relates to a dynamic simulation method for the tower erection process, specifically a dynamic simulation method for the tower erection process based on a double-rocker arm pole, belonging to the field of power transmission line engineering construction technology. Background Technology

[0002] When constructing transmission line towers in complex terrains such as mountainous areas and areas with heavy icing, the traditional double-rocker arm pole erection technology has problems such as insufficient dynamic restoration of three-dimensional scenes and lack of real-time verification of pole erection motion parameters. This leads to an over-reliance on manual experience in the feasibility assessment of construction plans, resulting in prominent safety hazards.

[0003] In the existing technology, the patent with publication number CN114139326A discloses a simulation system for transmission line tension laying based on 3D GIS. This scheme cannot simulate the attitude changes of double-arm gantry cranes under lifting and rotation operations, and lacks a real-time verification mechanism for multi-dimensional safety indicators such as gantry crane elevation angle and torque difference. Especially in sloping conditions, the stress concentration phenomenon at the base of the gantry crane is exacerbated by insufficient terrain matching, and the static simulation mode is difficult to quantify the impact of changes in lifting speed on structural stress. In addition, the existing method relies on discrete point interpolation for hoisting path planning and does not establish a kinematic model based on matrix transformation, resulting in low reliability of collision detection during tower hoisting. However, when the gantry crane elevation angle does not match the terrain slope, the stress concentration phenomenon at the base of the gantry crane is significant, leading to a decrease in overall stability. Terrain matching relies too much on manual labor, requiring construction personnel to manually adjust the gantry crane elevation angle to adapt to different terrain requirements. The risk warning capability is insufficient, relying on manual experience to judge risks, with a warning accuracy rate of less than 80%, and multi-level dynamic warning cannot be achieved. Summary of the Invention

[0004] The purpose of this invention is to provide a dynamic simulation method for the tower erection process based on a double-rocker arm pole to solve at least one of the above-mentioned technical problems. Based on various geographic data such as imagery and terrain, the method can realize the visualization, precision and safety of the construction process through digital simulation to conduct simulation research on the tower erection process, and find suitable construction solutions for construction personnel.

[0005] This invention achieves the above objectives through the following technical solution: a dynamic simulation method for the erection process of a tower based on a double-rocker arm gantry. This dynamic simulation method realizes visualization, precision, and safety of the construction process through digital simulation. The dynamic simulation method includes the following steps:

[0006] S1. Building a 3D Reality Scene Based on Aerial Survey Data: Acquiring terrain point cloud data to construct a 3D model of the surrounding environment;

[0007] S2. Collect and model the boom: Define the structural parameters of the double rocker boom and complete the 3D model of the double rocker boom based on the structural parameters of the double rocker boom;

[0008] S3. Set up construction tower erection simulation verification items: formulate construction verification criteria to ensure that the parameters of both arms are verified in real time during the hoisting process to ensure that they meet the requirements.

[0009] S4. Based on the kinematic principle, calculate the model and matrix changes of the gantry to complete the dynamic simulation: Based on the kinematic principle, perform path planning for the hoisting tower pieces and matrix transformation of the key postures of each model, calculate the matrix transformation information of the gantry model and the key postures of the hoisting tower pieces in real time, and complete the hoisting simulation animation rendering.

[0010] S5. Verify lifting weight, elevation angle, and torque indicators: Monitor various indicators in real time during the lifting process, compare the monitoring results with the set thresholds, and issue a red warning if the thresholds are exceeded.

[0011] As a further aspect of the present invention: the establishment of a three-dimensional model of the surrounding environment specifically includes:

[0012] Collect aerial survey point cloud data of the tower erection area, classify the ground point data and process it into elevation data;

[0013] Build a 3D model of the surrounding environment to recreate the real construction environment and help construction personnel determine the feasibility of the plan.

[0014] As a further aspect of the present invention: the collection of aerial survey point cloud data in the tower erection area specifically includes:

[0015] Outlier filtering (statistical filtering / radius filtering) was performed using the open-source software Cloud Compare, preserving ground and feature point clouds and outputting in LAS format;

[0016] Noise points were removed using the SOR (Statistical Outlier Removal) algorithm, with a neighborhood of 50 points and a standard deviation factor of 2.0. A triangular mesh model (STL) was generated using Poisson Reconstruction, with the mesh resolution set to twice the point cloud spacing.

[0017] Metashape is used to perform aerial triangulation of the image, generate high-precision texture maps, map them onto the mesh model, and output in OBJ / FBX format.

[0018] The model was divided into 100m×100m tiles using the 3D Tileset Converter, and finally 3D Tiles were generated.

[0019] As a further embodiment of the present invention, the structural parameters of the double rocker arm jack include, but are not limited to: jack body height, rocker arm length, rocker arm elevation angle, number of sections, section height, and lifting speed;

[0020] The structural parameters of the double-rocker boom are divided into two main models according to the construction requirements: the boom and the rocker arm. The boom provides lifting and lowering during the hoisting process, while the rocker arm is used to rotate and change the orientation of the hoisting tower pieces. The geometric information of the model is calculated according to the various parameters in the drawings to complete the parametric modeling of the double-rocker boom structure.

[0021] As a further aspect of the present invention: the construction verification criteria are formulated based on the content of the sensor verification at the construction site. The formulated construction verification criteria include: setting the double rocker arms as rocker arm A and rocker arm B, and setting the maximum lifting weight of rocker arm A and rocker arm B, the maximum and minimum elevation angles of the two arms, and the maximum torque difference between the two arms respectively.

[0022] As a further aspect of the present invention: the path planning for hoisting the tower sections specifically includes:

[0023] The double rocker arm pole-holding motion is broken down into two core joints: the lifting joint and the rocker arm rotation joint.

[0024] The main movement of the lifting joint is the upward movement of the guy wire position at the rocker arm hook. This process requires real-time calculation of the coordinate information at the end of the guy wire according to the running speed, and re-creation of the guy wire model based on the coordinate information.

[0025] The main movement of the rocker arm rotation joint is to use the rotation of the rocker arm to place the lifting tower piece at the target position after it is lifted to a certain height. This process requires real-time calculation of the position information of the rocker arm hook and the lifting tower piece during rotation according to the operating speed. The rocker arm is then remodeled based on the position information, and the matrix information of the lifting tower piece at a certain moment is calculated.

[0026] As a further solution of the present invention: the lifting joint realizes the vertical lifting of the main body of the pole, then the local transformation matrix is ​​T1, the local transformation matrix at the i-th millisecond is calculated as T2, and the model matrix is ​​multiplied according to T2 to obtain the final matrix T3, which is equal to the pole matrix in world coordinates * pole rotation matrix * T2.

[0027] The matrices of T1 and T2 are as follows:

[0028]

[0029] In the formula, d1 is the lifting height, the initial height of the main body of the mast is 0 when it is not lifted, and v is the set lifting speed.

[0030] As a further embodiment of the present invention: the length of the rocker arm of the rocker arm rotation joint is L, the target position of the model in the local coordinate system is (x1, y1, z1), and the lifting position is Pd(L, 0, d1). Then the final rotation angle of the rocker arm is α=2*arctan((x1-L) / (z1-d1)).

[0031] Assume the rotation angle (elevation angle) is β in a certain i millisecond, where β = α*v*i / (x1-L), and the translation vector is T(Lcosβ, 0, Lsinβ).

[0032]

[0033] The combined transformation matrix is: T3 = TransLation(Pd+T)*RotationZ(β); the final matrix T4 of the model is calculated to be equal to the tower matrix in world coordinates * the pole rotation matrix * T3.

[0034] As a further aspect of the present invention: the indicators monitored in real time include, but are not limited to, the elevation angle information β of the rocker arm rotation joint and the weight information m of the suspended model. The torque calculation formula is m*L*Sinβ. According to the established construction verification criteria, the calculation results are compared with the set threshold, and a red warning is given if the threshold is exceeded.

[0035] The beneficial effects of this invention are:

[0036] 1) By using multi-source data fusion and parametric modeling technology, a high-precision construction environment and equipment model is constructed to realize the full-process digital verification of the tower erection process. Terrain point clouds are obtained by using UAV aerial surveys, and a Cesium-compatible 3D construction environment is generated after filtering, reconstruction and tile processing. A parametric model of the double rocker arm gantry is established based on geometric parameters, defining key structural parameters such as main body height, rocker arm length, and elevation angle to realize rapid configuration and positioning of the equipment model. Multi-dimensional verification indicators such as single arm lifting weight, elevation angle range, and torque difference are set. Through data access and real-time algorithm calculation, a dynamic verification mechanism for lifting safety threshold is constructed. Based on kinematic principles, a double rocker arm joint coordinate system and transformation matrix are established to plan the lifting path and realize attitude simulation and collision detection during the tower section lifting process.

[0037] 2) This invention breaks through the limitations of traditional static simulation. Through the deep integration of three-dimensional environment real mapping, equipment model parameterization, real-time safety verification and kinematic simulation, it provides a visual verification platform for tower erection construction schemes, effectively improving construction safety and scheme feasibility assessment efficiency. It is applicable to intelligent construction planning for transmission line projects of different voltage levels. Attached Figure Description

[0038] Figure 1 This is a schematic flowchart of the method of the present invention;

[0039] Figure 2 This is a three-dimensional simulation diagram of the tower erection method of the present invention. Detailed Implementation

[0040] 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.

[0041] Example 1, as Figures 1 to 2 As shown, a dynamic simulation method for the erection process of a tower based on a double-rocker arm is presented. This dynamic simulation method achieves visualization, precision, and safety of the construction process through digital simulation. The dynamic simulation method for the tower erection process includes the following steps:

[0042] S1. Building a 3D Reality Scene Based on Aerial Survey Data: Acquiring terrain point cloud data to construct a 3D model of the surrounding environment;

[0043] S2. Collect and model the boom: Define the structural parameters of the double rocker boom and complete the 3D model of the double rocker boom based on the structural parameters of the double rocker boom;

[0044] S3. Set up construction tower erection simulation verification items: formulate construction verification criteria to ensure that the parameters of both arms are verified in real time during the hoisting process to ensure that they meet the requirements.

[0045] S4. Based on the kinematic principle, calculate the model and matrix changes of the gantry to complete the dynamic simulation: Based on the kinematic principle, perform path planning for the hoisting tower pieces and matrix transformation of the key postures of each model, calculate the matrix transformation information of the gantry model and the key postures of the hoisting tower pieces in real time, and complete the hoisting simulation animation rendering.

[0046] S5. Verify lifting weight, elevation angle, and torque indicators: Monitor various indicators in real time during the lifting process, compare the monitoring results with the set thresholds, and issue a red warning if the thresholds are exceeded.

[0047] Example 2, in addition to all the technical features included in Example 1, also includes:

[0048] The creation of a 3D model of the surrounding environment specifically includes:

[0049] Collect aerial survey point cloud data of the tower erection area, classify the ground point data and process it into elevation data;

[0050] Build a 3D model of the surrounding environment to recreate the real construction environment and help construction personnel determine the feasibility of the plan.

[0051] The collection of aerial survey point cloud data for the tower erection area specifically includes:

[0052] Outlier filtering (statistical filtering / radius filtering) was performed using the open-source software Cloud Compare, preserving ground and feature point clouds and outputting in LAS format;

[0053] Noise points were removed using the SOR (Statistical Outlier Removal) algorithm, with a neighborhood of 50 points and a standard deviation factor of 2.0. A triangular mesh model (STL) was generated using Poisson Reconstruction, with the mesh resolution set to twice the point cloud spacing.

[0054] Metashape is used to perform aerial triangulation of the image, generate high-precision texture maps, map them onto the mesh model, and output in OBJ / FBX format.

[0055] The model was divided into 100m×100m tiles using the 3D Tileset Converter, and finally 3D Tiles were generated.

[0056] Example 3, in addition to all the technical features included in Example 1, also includes:

[0057] The structural parameters of the double-rocker boom include, but are not limited to, the main body height of the boom, the length of the rocker arm, the elevation angle of the rocker arm, the number of sections, the section height, and the jacking speed. The structural parameters of the double-rocker boom are divided into two main models according to the construction requirements: the boom and the rocker arm. The boom provides lifting and lowering during the hoisting process; the rocker arm is used to rotate and change the orientation of the hoisting tower pieces during the hoisting process. The geometric information of the model is calculated according to the various parameters in the drawings to complete the parametric modeling of the double-rocker boom structure.

[0058] The construction verification criteria are formulated based on the content of sensor verification at the construction site, and are fully matched to all the indicators that must be verified in actual construction. The formulated construction verification criteria include: setting the double rocker arms as rocker arm A and rocker arm B, and setting the maximum lifting weight of rocker arm A and rocker arm B, the maximum and minimum elevation angles of the two arms, and the maximum torque difference between the two arms respectively.

[0059] Example 4, in addition to all the technical features in Example 1, also includes: kinematic principles are used to fit the motion paths of the double-arm jib and the hoisting tower pieces in a three-dimensional scene under real construction conditions. Before construction, construction personnel can use this technology to fit different hoisting schemes in a computer virtual environment to determine the feasibility, optimality, and safety of the schemes. Specifically, this includes:

[0060] The double rocker arm pole-holding motion is broken down into two core joints: the lifting joint and the rocker arm rotation joint.

[0061] The main movement of the lifting joint is the upward movement of the guy wire position at the rocker arm hook. This process requires real-time calculation of the coordinate information at the end of the guy wire according to the running speed, and re-creation of the guy wire model based on the coordinate information.

[0062] The main movement of the rocker arm rotation joint is to lift the tower to a certain height (preset height) and then use the rocker arm rotation to place the tower plate at the target position. This process requires real-time calculation of the position information of the rocker arm hook and the tower plate during rotation according to the running speed. The rocker arm is then remodeled based on the position information, and the matrix information of the tower plate at a certain moment is calculated.

[0063] The lifting joint enables the vertical lifting and lowering of the main body of the pole. The local transformation matrix is ​​T1. The local transformation matrix at the i-th millisecond is T2. The model matrix is ​​multiplied according to T2 to obtain the final matrix T3. T3 is equal to the pole matrix in world coordinates * pole rotation matrix * T2.

[0064] The matrices of T1 and T2 are as follows:

[0065]

[0066] In the formula, d1 is the lifting height, the initial height of the main body of the mast is 0 when it is not lifted, and v is the preset lifting speed.

[0067] The length of the rocker arm in the rocker arm rotation joint is L, the target position of the model in the local coordinate system is (x1, y1, z1), and the lifting position is Pd(L, 0, d1). Then the final rotation angle of the rocker arm is α = 2*arctan((x1-L) / (z1-d1)).

[0068] Assume the rotation angle (elevation angle) is β in a certain i millisecond, where β = α*v*i / (x1-L), and the translation vector is T(Lcosβ, 0, Lsinβ).

[0069]

[0070] The combined transformation matrix is: T3 = TransLation(Pd+T)*RotationZ(β); the final matrix of the model is calculated as T4 = tower matrix in world coordinates * pole rotation matrix * T3.

[0071] The real-time monitoring indicators include, but are not limited to, the elevation angle information β of the rocker arm rotation joint and the weight information m of the suspended model. The torque calculation formula is m*L*Sinβ. According to the established construction verification criteria, the calculation results are compared with the set thresholds. If the threshold is exceeded, a red warning is given.

[0072] Working principle: Terrain point clouds are acquired using UAV aerial surveying, and then filtered, reconstructed, and tiled to generate a Cesium-compatible 3D construction environment. A parametric model of the dual-arm gantry crane is established based on geometric parameters, defining key structural parameters such as main body height, arm length, and elevation angle to achieve rapid configuration and positioning of the equipment model. Multi-dimensional verification indicators are set, including single-arm lifting capacity, elevation angle range, and torque difference. Through data access and real-time algorithm calculation, a dynamic verification mechanism for lifting safety thresholds is constructed. A dual-arm joint coordinate system and transformation matrix are established based on kinematic principles to plan the lifting path, achieving attitude simulation and collision detection during the tower section lifting process.

[0073] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0074] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A dynamic simulation method for the tower erection process based on a double-rocker arm gantry, characterized in that, The dynamic simulation method for the tower erection process includes the following steps: S1. Building a 3D Reality Scene Based on Aerial Survey Data: Acquiring terrain point cloud data to construct a 3D model of the surrounding environment; S2. Collect and model the boom: Define the structural parameters of the double rocker boom and complete the 3D model of the double rocker boom based on the structural parameters of the double rocker boom; S3. Set up construction tower erection simulation verification items: formulate construction verification criteria to ensure that the parameters of both arms are verified in real time during the hoisting process to ensure that they meet the requirements. S4. Based on the kinematic principle, calculate the model and matrix changes of the gantry to complete the dynamic simulation: Based on the kinematic principle, perform path planning for the hoisting tower pieces and matrix transformation of the posture of each model, calculate the matrix transformation information of the gantry model and the posture of the hoisting tower pieces in real time, and complete the hoisting simulation animation rendering. S5. Verify lifting weight, elevation angle, and torque indicators: Monitor various indicators in real time during the lifting process, compare the monitoring results with the set thresholds, and issue a red warning if the thresholds are exceeded.

2. The dynamic simulation method for tower erection process according to claim 1, characterized in that, In S1, the establishment of the three-dimensional model of the surrounding environment specifically includes: Collect aerial survey point cloud data of the tower erection area, classify the ground point data and process it into elevation data; Build a 3D model of the surrounding environment to recreate the real construction environment and help construction personnel determine the feasibility of the plan.

3. The dynamic simulation method for tower erection process according to claim 2, characterized in that: The collection of aerial survey point cloud data for the tower erection area specifically includes: Outlier filtering was performed using the open-source software Cloud Compare, preserving ground and feature point clouds, and outputting LAS format. Noise points were removed using the SOR algorithm, with a neighborhood of 50 points and a standard deviation of 2.

0. A triangular mesh model was generated using Poisson reconstruction, and the mesh resolution was set to twice the point cloud spacing. Metashape is used to perform aerial triangulation of the image, generate high-precision texture maps, map them onto the mesh model, and output in OBJ / FBX format. The model was divided into 100m×100m tiles using the 3D Tileset Converter, and finally 3D Tiles were generated.

4. The dynamic simulation method for tower erection process according to claim 1, characterized in that: In S2, the structural parameters of the double rocker arm jack include, but are not limited to, the jack body height, rocker arm length, rocker arm elevation angle, number of sections, section height, and lifting speed. The structural parameters of the double-rocker boom are divided into two main models according to construction requirements: the boom provides lifting and lowering during hoisting, and the rocker arm is used to rotate and change the orientation of the hoisting tower pieces during hoisting. The geometric information of the model is calculated according to the various parameters in the drawings to complete the parametric modeling of the double-rocker boom structure.

5. The dynamic simulation method for tower erection process according to claim 1, characterized in that: In S3, the construction verification criteria are formulated based on the content of the sensor verification at the construction site. The formulated construction verification criteria include: setting the double rocker arms as rocker arm A and rocker arm B, and setting the maximum lifting weight of rocker arm A and rocker arm B, the maximum and minimum elevation angles of the two arms, and the maximum torque difference between the two arms respectively.

6. The dynamic simulation method for tower erection process according to claim 1, characterized in that: In step S4, the motion path planning for the hoisting tower segments specifically includes: The double rocker arm pole-holding motion is decomposed into the lifting joint and the rocker arm rotation joint; The movement of the lifting joint is the upward process of the guy wire position at the rocker arm hook. During this upward process, the coordinate information of the end position of the guy wire is calculated in real time according to the running speed, and the guy wire model is recreated based on the coordinate information. The movement of the rocker arm rotation joint is to lift to the preset height and then use the rotation of the rocker arm to place the lifting tower piece at the target position. In this process, the position information of the rocker arm hook and the position information of the lifting tower piece are calculated in real time according to the running speed. The rocker arm is remodeled based on the position information, and the matrix information of the lifting tower piece at a certain moment is calculated.

7. The dynamic simulation method for tower erection process according to claim 6, characterized in that: The lifting joint enables the vertical lifting and lowering of the main body of the pole. The local transformation matrix is ​​T1. The local transformation matrix at the i-th millisecond is T2. The model matrix is ​​multiplied according to T2 to obtain the final matrix T3. T3 is equal to the pole matrix in world coordinates * pole rotation matrix * T2. The matrices of T1 and T2 are as follows: In the formula, d1 is the lifting height, the initial height of the main body of the mast is 0 when it is not lifted, and v is the preset lifting speed.

8. The dynamic simulation method for tower erection process according to claim 6, characterized in that: The rocker arm of the rocker arm rotation joint has a length of L, the target position of the model in the local coordinate system is (x1, y1, z1), and the lifting position is Pd(L, 0, d1). Then the final rotation angle of the rocker arm is α = 2*arctan((x1-L) / (z1-d1)). Assume the rotation angle is β in a certain ms, where β = α*v*i / (x1-L), and the translation vector is T(Lcosβ, 0, Lsinβ). The combined transformation matrix is: T3 = TransLation(Pd+T)*RotationZ(β); the final matrix T4 of the model is calculated to be equal to the tower matrix in world coordinates * the pole rotation matrix * T3.

9. The dynamic simulation method for tower erection process according to claim 8, characterized in that: In S5, the real-time monitored indicators include, but are not limited to, the elevation angle information β of the rocker arm rotation joint and the weight information m of the suspended model. The torque calculation formula is m*L*Sinβ. According to the construction verification criteria, the calculation results are compared with the set threshold. If the threshold is exceeded, a red warning is given.

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