Hydraulic control optimization method, device and equipment for sector preassembling tool and medium

Abstract

The invention relates to a hydraulic control optimization method and device for a sector preassembling tool, equipment and a medium. Comprising the following steps: establishing a global coordinate system and a sector preassembled tool coordinate system, and determining a rigid body transformation relation; determining the current pose of the sector preassembling tool and the target station of the to-be-transferred sector, determining the initial position of the to-be-transferred sector, transferring the to-be-transferred sector from the current position to the initial position through the sector preassembling tool, and transferring the to-be-transferred sector from the current position to the initial position on the basis of the current pose and the rigid body transformation relation under the condition that the sector preassembling tool is within the preset range. And determining a gap and a deviation value of at least one distance measurement point on the sector preassembling tool, determining a target control strategy, and carrying out early warning reminding and / or controlling a plurality of oil cylinder groups of the sector preassembling tool. Therefore, the problems of high operation learning cost, high misoperation risk, low adjustment efficiency, insufficient anti-collision margin and prominent heavy-load operation potential safety hazards in the prior art are solved, and the safety, efficiency and repeatability of the transfer and alignment process are improved.

Description

Technical Field

[0001] This application relates to the field of manufacturing and assembly process equipment technology for nuclear fusion devices, and in particular to a hydraulic control optimization method, device, equipment and medium for sector pre-assembly tooling. Background Technology

[0002] The vacuum chamber of a tokamak nuclear fusion device is manufactured in sections by multiple sectors and assembled with high precision. The sectors are characterized by large size, large mass and complex assembly interfaces, which places extremely high demands on the precision, safety and efficiency of transportation, alignment and attitude adjustment.

[0003] In related technologies, the hydraulic system of the pre-installed tooling in the sector adopts multi-loop integrated control of electro-hydraulic proportional / switching valves. Through the human-machine interface, it realizes cylinder jogging, linkage control, status monitoring and alarm. On-site, it adopts cylinder grouping and multi-mode collaborative control. The operator selects the control mode according to the working conditions, identifies the correspondence between the cylinder group and the degree of freedom of motion, and completes the step-by-step adjustment of posture and translation.

[0004] However, due to the lack of real-time pose and obstacle perception guidance in related technologies, the assembly site is limited by space, narrow gaps, and poor visibility. Moreover, the operation is highly dependent on human experience and manual measurement, resulting in high learning costs, high risk of misoperation, and low adjustment efficiency. At the same time, there are problems such as insufficient collision avoidance margin and prominent safety hazards in heavy-load operations, which urgently need to be solved. Summary of the Invention

[0005] This application provides a hydraulic control optimization method, device, equipment, and medium for pre-assembled tooling in sectors, in order to solve the problems of high learning costs, high risk of misoperation, low adjustment efficiency, insufficient anti-collision margin, and prominent safety hazards in heavy-duty operations in related technologies, thereby improving the safety, efficiency, and repeatability of the transfer and alignment process.

[0006] To achieve the above objectives, the first aspect of this application proposes a hydraulic control optimization method, apparatus, equipment, and medium for sector pre-assembly tooling, comprising the following steps:

[0007] Establish a global coordinate system and a sector pre-assembly tooling coordinate system, and determine the rigid body transformation relationship between the global coordinate system and the sector pre-assembly tooling coordinate system; Determine the current pose of the pre-installed fixture for the sector and the target workstation of the sector to be transferred, and determine the initial position of the sector to be transferred based on the target workstation; Obtain the current position of the sector pre-assembly fixture, and use the sector pre-assembly fixture to transfer the sector to be transferred from the current position to the initial position, and identify whether the sector pre-assembly fixture is within a preset range determined by the initial position; When the sector pre-assembly fixture is within the preset range, the gap and deviation of at least one ranging point on the sector pre-assembly fixture are determined based on the current pose and the rigid body transformation relationship. A target control strategy is determined based on the gap and deviation of the at least one ranging point, and an early warning reminder and / or control of multiple cylinder groups of the sector pre-assembly fixture is performed according to the target control strategy. According to one embodiment of this application, the step of transferring the sector to be transferred from the current position to the initial position using the sector pre-assembly fixture includes: Identify the accessible and restricted areas; Based on the global coordinate system, a planned route from the current position to the initial position is generated according to the passable area and the restricted area; Based on the planned route, the sector to be transferred is transferred from the current position to the initial position.

[0008] According to one embodiment of this application, determining the gap and deviation of at least one ranging point on the sector pre-assembly fixture based on the current pose and the rigid body transformation relationship includes: Based on the coordinate system of the pre-installed tooling in the sector, the position information of the at least one ranging point is obtained; Based on the rigid body transformation relationship, the position information of the at least one ranging point is mapped to the global coordinate system to obtain the global coordinates of the at least one ranging point; The gap and deviation of the at least one ranging point are determined based on the global coordinates of the at least one ranging point and the current pose.

[0009] According to one embodiment of this application, the step of determining a target control strategy based on the gap and deviation of the at least one ranging point, and providing an early warning reminder based on the target control strategy, includes: Identify the threshold range in which the gap of any ranging point lies; The target control strategy is determined based on the threshold range of the gap of any of the ranging points, and an early warning reminder is given based on the target control strategy.

[0010] According to one embodiment of this application, determining the target control strategy based on the threshold range where the gap of any ranging point is located, and providing early warning reminders based on the target control strategy, includes: If the gap between any of the ranging points is less than or equal to the corresponding warning threshold, and the gap between any of the ranging points is greater than the corresponding danger threshold, a risk warning will be issued and a target point step length reminder will be generated. Furthermore, if the gap between any of the ranging points is less than or equal to the corresponding danger threshold, and the gap between any of the ranging points is greater than the corresponding shutdown threshold, then an acoustic hazard warning and / or an optical hazard warning will be issued, and the sector pre-installed fixture will be reduced to a preset speed limit range. Furthermore, if the gap between any of the ranging points is less than or equal to the corresponding shutdown threshold, the pre-installed tooling of the sector is controlled to trigger interlock protection.

[0011] According to one embodiment of this application, the step of determining a target control strategy based on the gap and deviation of the at least one ranging point, and controlling the multiple cylinder groups of the pre-assembled tooling in the sector according to the target control strategy, includes: Based on the deviation of the at least one ranging point, determine whether the sector pre-installed fixture meets the preset attitude adjustment conditions; If the sector pre-installed fixture meets the preset attitude adjustment conditions, then the attitude adjustment suggestion of the sector pre-installed fixture is determined, and based on the preset cylinder group-pose response mapping relationship, the state of multiple cylinder groups of the sector pre-installed fixture is determined according to the attitude adjustment suggestion. Control the corresponding hydraulic cylinder group according to the status of the multiple hydraulic cylinder groups until the posture of the pre-installed tooling in the sector meets the preset process requirements.

[0012] According to one embodiment of this application, determining the current pose of the sector pre-assembly fixture includes: Obtain the heading angle of the pre-installed tooling in the sector; The current pose of the pre-installed tooling in the sector is calculated based on the heading angle.

[0013] The hydraulic control optimization method for sector pre-assembly fixtures proposed in this application establishes a global and sector pre-assembly fixture coordinate system, determines the rigid body transformation relationship between the coordinate systems, determines the initial position of the sector to be transferred, and transfers the sector to be transferred from the current position to the initial position. It also determines the gap and deviation of at least one measuring point on the sector pre-assembly fixture, determines the target control strategy, and provides early warning and / or controls multiple cylinder groups of the sector pre-assembly fixture. This solves the problems of high learning costs, high risk of misoperation, low adjustment efficiency, insufficient collision avoidance margin, and prominent safety hazards in heavy-duty operations in related technologies, improving the safety, efficiency, and repeatability of the transfer and alignment process.

[0014] To achieve the above objectives, a second aspect of this application provides a hydraulic control optimization device for a sector pre-assembly fixture, comprising: The module is constructed to establish a global coordinate system and a sector pre-installed tooling coordinate system, and to determine the rigid body transformation relationship between the global coordinate system and the sector pre-installed tooling coordinate system. The first determining module determines the current pose of the pre-installed tooling of the sector and the target station of the sector to be transferred, and determines the initial position of the sector to be transferred based on the target station. The identification module obtains the current position of the sector pre-assembly fixture, and uses the sector pre-assembly fixture to transfer the sector to be transferred from the current position to the initial position, and identifies whether the sector pre-assembly fixture is within a preset range determined by the initial position; The second determining module, when the sector pre-assembly fixture is within the preset range, determines the gap and deviation of at least one ranging point on the sector pre-assembly fixture based on the current pose and the rigid body transformation relationship; The control module determines a target control strategy based on the gap and deviation of the at least one ranging point, and provides early warning and / or controls multiple cylinder groups of the pre-installed tooling in the sector based on the target control strategy.

[0015] According to one embodiment of this application, the identification module is specifically used for: Identify the accessible and restricted areas; Based on the global coordinate system, a planned route from the current position to the initial position is generated according to the passable area and the restricted area; Based on the planned route, the sector to be transferred is transferred from the current position to the initial position.

[0016] According to one embodiment of this application, the second determining module is specifically used for: Based on the coordinate system of the pre-installed tooling in the sector, the position information of the at least one ranging point is obtained; Based on the rigid body transformation relationship, the position information of the at least one ranging point is mapped to the global coordinate system to obtain the global coordinates of the at least one ranging point; The gap and deviation of the at least one ranging point are determined based on the global coordinates of the at least one ranging point and the current pose.

[0017] According to one embodiment of this application, the control module is specifically used for: Identify the threshold range in which the gap of any ranging point lies; The target control strategy is determined based on the threshold range of the gap of any of the ranging points, and an early warning reminder is given based on the target control strategy.

[0018] According to one embodiment of this application, the control module is specifically used for: If the gap between any of the ranging points is less than or equal to the corresponding warning threshold, and the gap between any of the ranging points is greater than the corresponding danger threshold, a risk warning will be issued and a target point step length reminder will be generated. Furthermore, if the gap between any of the ranging points is less than or equal to the corresponding danger threshold, and the gap between any of the ranging points is greater than the corresponding shutdown threshold, then an acoustic hazard warning and / or an optical hazard warning will be issued, and the sector pre-installed fixture will be reduced to a preset speed limit range. Furthermore, if the gap between any of the ranging points is less than or equal to the corresponding shutdown threshold, the pre-installed tooling of the sector is controlled to trigger interlock protection.

[0019] According to one embodiment of this application, the control module is specifically used for: Based on the deviation of the at least one ranging point, determine whether the sector pre-installed fixture meets the preset attitude adjustment conditions; If the sector pre-installed fixture meets the preset attitude adjustment conditions, then the attitude adjustment suggestion of the sector pre-installed fixture is determined, and based on the preset cylinder group-pose response mapping relationship, the state of multiple cylinder groups of the sector pre-installed fixture is determined according to the attitude adjustment suggestion. Control the corresponding hydraulic cylinder group according to the status of the multiple hydraulic cylinder groups until the posture of the pre-installed tooling in the sector meets the preset process requirements.

[0020] According to one embodiment of this application, the first determining module is specifically used for: Obtain the heading angle of the pre-installed tooling in the sector; The current pose of the pre-installed tooling in the sector is calculated based on the heading angle.

[0021] The hydraulic control optimization device for sector pre-assembly fixtures proposed in this application establishes a global coordinate system and a coordinate system for the sector pre-assembly fixture, determines the rigid body transformation relationship between the coordinate systems, determines the initial position of the sector to be transferred, and transfers the sector to be transferred from the current position to the initial position. It also determines the gap and deviation of at least one measuring point on the sector pre-assembly fixture, determines the target control strategy, and provides early warning and / or controls multiple cylinder groups of the sector pre-assembly fixture. This solves the problems of high learning costs, high risk of misoperation, low adjustment efficiency, insufficient collision avoidance margin, and prominent safety hazards in heavy-duty operations in related technologies, improving the safety, efficiency, and repeatability of the transfer and alignment process.

[0022] To achieve the above objectives, a third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the hydraulic control optimization method for sector pre-loading tooling as described in the above embodiments.

[0023] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the hydraulic control optimization method for sector pre-assembly tooling as described in the above embodiments.

[0024] To achieve the above objectives, a fifth aspect of this application provides a computer program product, which, when executed by a processor, implements the hydraulic control optimization method for sector pre-loading tooling as described in the above embodiments.

[0025] Therefore, the hydraulic control optimization method for the sector pre-assembly tooling in this application embodiment has at least the following beneficial effects: (1) When the SSAT is transferred and aligned in this application embodiment, a two-stage control process of "positioning for transfer to the initial position + laser ranging for precise positioning and collision avoidance" is adopted, and automatic mode switching and positioning determination are included. (2) This application proposes a guidance strategy. In the fine positioning stage, based on the difference in multi-point ranging, it is first determined whether attitude adjustment is needed. If so, attitude jogging suggestions are output and executed. After the attitude is up to standard, translation jogging suggestions are output and executed, forming a step-by-step closed-loop guidance of "attitude first, then translation". (3) The embodiments of this application propose a safety mechanism that sets at least two levels of safety thresholds based on ranging, and restricts or prohibits the jog command in direction when the danger threshold is triggered, and re-evaluates the gap and updates the interlocking status after each jog; (4) This application proposes a control encapsulation mechanism, which provides only high-level action entry and suggested quantity display for "attitude jog / translation jog" to the outside world, and the controller automatically completes the combination control of locking, following and control cylinder selection of multiple hydraulic cylinder groups, so that the operator does not need to memorize the hydraulic cylinder group and degree of freedom mapping; (5) This application proposes an adaptive jogging mechanism that automatically adjusts jogging parameters (such as jogging step size, speed limit or valve opening limit) according to the gap risk level and remaining deviation, and automatically switches to a more conservative fine-tuning strategy when approaching risk or target. (6) This application proposes a calibration and compensation mechanism, which establishes a set of action response parameters by pre-setting a safe small-amplitude jog sequence, and corrects the parameter set online based on the distance measurement and pose changes before and after the jog during operation, so as to improve the accuracy and long-term consistency of guidance suggestions.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a hydraulic control optimization method for a sector pre-assembly fixture provided according to an embodiment of this application; Figure 2 This is a flowchart of a hydraulic control optimization method for a sector pre-assembly fixture provided according to an embodiment of this application; Figure 3 This is a block diagram of a hydraulic control optimization device for a sector pre-assembly fixture provided according to an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0028] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0029] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to specific embodiments.

[0030] Those skilled in the art will understand that there are four main technical solutions in the relevant technologies to assist in the completion of equipment transfer, alignment, and docking: (1) Collision avoidance and semi-automatic control of transport based on laser scanning distance measurement. Related technologies propose a container lifting collision avoidance device using laser scanning. It obtains the lateral position and height of the spreader, as well as the distribution and height of the stacked containers below, through laser scanning distance measurement. When a collision trend occurs, it alarms and participates in the trolley and lifting control to avoid collisions. It can also participate in automatic control and path planning. Based on the SSAT scenario proposed in this application, the technical solution revolves around the two-dimensional or simplified three-dimensional collision avoidance of the "crane trolley / spreader". The controlled object is not a multi-cylinder driven heavy-duty attitude adjustment mechanism. It lacks the operation guidance and interface simplification mechanism under the mapping of "multi-cylinder group - attitude / translation degree of freedom". Its focus is on "collision avoidance + lifting process control". It does not solve the learning cost and misoperation problem of "how to generate jog suggestions based on the distance difference and solidify the adjustment sequence as 'attitude first and then translation'" in the close-range alignment stage of SSAT.

[0031] (2) Regarding the control of the hydraulic jacking system based on laser ranging for deviation detection, the relevant technology proposes a jacking system for underpass box culverts. It is based on a hydraulic station and multiple jacks for synchronous jacking. A deviation monitoring system is formed by multiple laser rangefinders and reflective structures to monitor horizontal and vertical deviations. It is electrically connected to the main control console and hydraulic station to improve efficiency and troubleshooting capabilities. Based on the SSAT scenario proposed in this application, the laser ranging in this solution is used for "deviation monitoring / positioning measurement". It does not provide executable point momentum suggestions for operators (e.g., vertical difference → adjust attitude first; meet the standard → give translation distance), and it does not deeply bind the suggestions to the interface interaction. It lacks a complete closed loop of "global positioning coordinate system (reference point / center coordinates) - path planning - transfer to initial position - close-range fine positioning / collision avoidance". It is more inclined to the measurement and control integration in a single process (jacking).

[0032] (3) Regarding heavy-duty workpiece handling and docking devices, related technologies propose a large-size heavy-duty cylindrical workpiece handling and docking device, which combines a Mecanum wheel omnidirectional moving platform and an air cushion platform. At the docking end, a target ball is scanned by a laser rangefinder arranged at three points, and the controller drives the three-axis moving positioner to achieve docking. Based on the SSAT scenario proposed in this application, this solution relies on a dedicated electromechanical structure system of "omnidirectional moving platform + air cushion platform + three-axis positioner", which belongs to the route of "redefining handling and docking equipment". The more common demand of SSAT is to optimize the control / interface on the basis of the existing hydraulic system and cylinder configuration to reduce the modification cost and the risk of downtime. Its measurement-control link is oriented towards the closed-loop automatic control of the docking actuator (positioner), which does not address the current pain point of SSAT, namely, the operator needs to remember the relationship between the cylinder group and the degree of freedom (locking / following / control), and the interface is difficult to intuitively express "deviation-action-point momentum".

[0033] (4) Regarding the attitude adjustment and docking system based on large-scale movement and automatic navigation, the relevant technology proposes an attitude adjustment and docking system and method based on large-scale movement and automatic navigation. It adopts an automatic navigation vehicle equipped with an attitude adjustment mechanism and introduces a measurement system (laser tracker, iGPS (indoor Global Positioning System) or laser projection positioning instrument) to establish an assembly coordinate system. The integrated control system calculates the attitude adjustment amount through trajectory planning and distributes it to the drive unit for execution, thereby realizing long-distance automatic transportation and close-range precise attitude adjustment and positioning docking. Based on the SSAT scenario proposed in this application, this solution usually relies on high-end measurement systems such as laser trackers / iGPS and the layout of measurement points. The system is complex, has high implementation and maintenance costs, and is highly dependent on the on-site line of sight, calibration and measurement process; it is more inclined to a "highly automated full closed-loop attitude adjustment and docking platform". However, this application intends to solve the "human-machine collaboration" scenario in the SSAT field: with positioning + ranging as input, the complex hydraulic cylinder group control relationship is hidden in the background, and the interface outputs "attitude first and then translation" jog suggestions and anti-collision warnings, thereby significantly reducing the learning cost and the probability of misoperation.

[0034] The above-mentioned technologies reveal that: collision avoidance solutions focus more on the safety of the hoisting equipment itself, lacking "deviation-action-moment momentum" guidance for multi-cylinder attitude adjustment mechanisms; jacking / synchronous control solutions emphasize deviation monitoring and execution control, lacking interactive jog suggestions and sequence fixation for operators; and heavy-duty docking platform / automatic navigation attitude adjustment solutions are mostly dedicated equipment-level reconfiguration or high-end measurement system approaches, making it difficult to achieve the combined goals of "clear interface, reduced operational memory burden, step-by-step guidance, and collision avoidance precise positioning" at a lower cost on existing SSAT hydraulic systems.

[0035] In summary, this application solves at least the following technical problems: (1) The complex mapping of multiple cylinder groups and degrees of freedom of motion leads to an unintuitive interface, high learning cost, and high probability of misoperation: Existing SSAT hydraulic systems usually divide cylinders into multiple groups and realize the posture adjustment and translation of different degrees of freedom through the combination of "locking / following / control cylinders"; the state combination of each cylinder group under the same action mode is significantly different, and on-site operators need to remember the relationships such as "which action corresponds to which cylinder groups, which are locked, which are followed, and which is the control cylinder", which leads to a long training cycle, operation relies on experience and is prone to errors.

[0036] (2) Lack of unified coordinate reference and quantifiable deviation calculation makes it difficult to achieve closed-loop guidance of "target-deviation-action amount": Existing methods mostly rely on the interface to display cylinder parameters and manual measurement / visual judgment. There is a lack of tooling motion coordinate system based on global positioning information. It is impossible to quantitatively compare "current tooling position / attitude" and "target position / attitude" in the same coordinate system, and therefore it is impossible to directly output executable jogging suggestions (jogging direction, jogging amount / distance / number of times, etc.) on the interface.

[0037] (3) There is a risk of collision during hoisting and transportation and close-range alignment. There is a lack of engineering-based anti-collision warning and precise positioning methods: the surrounding space is limited and there are many obstructions during the pre-assembly and alignment stages of the sector. It is difficult to detect potential interference in time by relying on manual experience to judge the gap. At the same time, the existing interface is centered on hydraulic cylinder control and lacks a mechanism to integrate external distance information (such as the distance to the target reference plane / obstacle) into the control decision in real time, resulting in insufficient safety margin.

[0038] (4) The operation sequence of “attitude adjustment - translation fine adjustment” depends on personal experience, which is inefficient and inconsistent: On-site, the implicit experience rule of “adjusting attitude first and then translation” is usually followed, but the existing interface cannot automatically determine “adjusting attitude first or translation first” based on the real-time distance difference, nor can it automatically switch to translation suggestion after the attitude meets the standard, resulting in repeated trials, many iterations and uncontrollable working hours.

[0039] (5) To achieve the need for control optimization and interface guidance without significantly modifying the existing hydraulic actuator configuration: As a heavy-duty tooling, the hydraulic actuator and valve group configuration of SSAT are usually fixed. In engineering, it is more inclined to improve the capability through incremental sensor configuration and control / interaction layer upgrade; therefore, a control optimization method that can be implemented on the basis of the existing multi-cylinder hydraulic system is needed to hide the complex cylinder group logic in the background and form a standardized guidance control output through the input of "positioning + distance measurement", thereby reducing the modification cost and the risk of line stoppage.

[0040] Therefore, there is an urgent need for a hydraulic control optimization method for pre-assembled tooling in tokamak sectors. This method should be able to establish a unified coordinate reference and deviation calculation logic by introducing positioning and ranging sensing methods without changing the basic hydraulic actuator configuration of the tooling. It should also provide directly executable inching guidance and anti-collision warning on the operating interface, thereby reducing reliance on operator memory and experience and improving the safety, efficiency and repeatability of the transfer and alignment process.

[0041] The following describes, with reference to the accompanying drawings, the hydraulic control optimization method, apparatus, equipment and medium for sector pre-assembly fixtures proposed according to embodiments of this application. First, the hydraulic control optimization method for sector pre-assembly fixtures proposed according to embodiments of this application will be described with reference to the accompanying drawings.

[0042] Figure 1 This is a flowchart of a hydraulic control optimization method for a sector pre-assembly fixture according to an embodiment of this application.

[0043] like Figure 1 As shown, the hydraulic control optimization method for the pre-installed tooling in this sector includes the following steps: In step S101, a global coordinate system and a sector pre-assembly tooling coordinate system are established, and the rigid body transformation relationship between the global coordinate system and the sector pre-assembly tooling coordinate system is determined.

[0044] The global coordinate system refers to a unified and fixed three-dimensional spatial coordinate reference system established with a fixed and repeatable reference point as the origin within the entire factory operation area for sector pre-assembly, transfer, and alignment. The sector pre-assembly tooling coordinate system refers to a dedicated measurement benchmark established based on the tooling's own mechanical structure. It is mainly used to describe the relative positions of the tooling body, the positioning / laser ranging sensors mounted on the tooling, the hydraulic cylinder actuators, etc., as well as the tooling's own attitude changes and degrees of freedom of motion. It is the fundamental coordinate system for realizing local pose perception of the tooling during tokamak sector pre-assembly operations. Rigid body transformation relationships refer to the mathematical relationships describing the spatial position and attitude correlation between the global coordinate system and the sector pre-assembly tooling coordinate system.

[0045] Specifically, in this embodiment, fixed and repeatable reference points (such as factory measurement control points or designated reference markers) are selected in the work area to establish a global coordinate system; simultaneously, a sector pre-assembly tooling coordinate system is defined on the SSAT body (for example, with the tooling center or lifting point center as the origin, and the axis defined according to the structural direction). Further, this embodiment obtains the rigid body transformation relationship (rotation + translation) of the sector pre-assembly tooling coordinate system relative to the global coordinate system through calibration. This method originates from the coordinate system definition, coordinate transformation, and homogeneous transformation theory commonly used in engineering measurement and robotics in related technologies; to avoid redundancy, it will not be elaborated upon here.

[0046] Therefore, the current position, target position, initial position, distance measuring point position, and obstacle position can all be uniformly expressed under the same coordinate system, effectively avoiding the errors and confusion caused by manual conversion between different reference systems.

[0047] In step S102, the current pose of the sector pre-assembly fixture and the target station of the sector to be transferred are determined, and the initial position of the sector to be transferred is determined according to the target station.

[0048] Optionally, in some embodiments, determining the current pose of the sector pre-assembly fixture includes: obtaining the heading angle of the sector pre-assembly fixture; and calculating the current pose of the sector pre-assembly fixture based on the heading angle.

[0049] Here, "current pose" refers to the absolute spatial position and attitude of the pre-assembled tooling in a sector at a specific operational moment. "Target station" refers to the preset spatial pose reference where the vacuum chamber sector to be transferred must ultimately arrive and complete precise docking and fixed assembly. "Yaw angle" refers to the angle between the reference forward axis of the tooling's body coordinate system and the horizontal reference axis of the global coordinate system within the horizontal reference plane of the global coordinate system; it is a key angular quantity for measuring the tooling's horizontal deflection and orientation.

[0050] Specifically, in this embodiment, a positioning device is deployed on the SSAT. In engineering implementation, any positioning system can be selected from related technologies such as GNSS (Global Navigation Satellite System) / RTK (Real-Time Kinematic), iGPS, and UWB (Ultra-Wideband). To avoid redundancy, detailed descriptions are omitted here. Based on the positioning device, this embodiment outputs the tooling position coordinates in real time, and simultaneously outputs the heading angle or calculates the attitude through multiple antennas / multiple base stations, thus obtaining attitude information simultaneously.

[0051] Furthermore, to improve stability, classical signal processing and state estimation methods from related technologies are used to perform time alignment, jump removal, and smoothing filtering (such as moving average or Kalman filtering) on ​​the raw positioning data. To avoid redundancy, these methods will not be elaborated in detail here. This effectively suppresses short-term drift caused by electromagnetic interference / obstruction in the field. The pose obtained after filtering is used as the "current state" for transfer planning and arrival determination.

[0052] In step S103, the current position of the sector pre-assembly fixture is obtained, and the sector to be transferred is transferred from the current position to the initial position through the sector pre-assembly fixture. It is also identified whether the sector pre-assembly fixture is within the preset range determined by the initial position.

[0053] Optionally, in some embodiments, the sector to be transferred is transferred from the current position to the initial position by means of a sector pre-loading fixture, including: determining the passable area and the restricted area; generating a planned route from the current position to the initial position based on the global coordinate system and the passable area and the restricted area; and transferring the sector to be transferred from the current position to the initial position based on the planned route.

[0054] The preset range can be a range pre-defined by the user, a range obtained through a limited number of experiments, or a range obtained through a limited number of computer simulations. The passable area refers to a three-dimensional spatial area defined based on the global coordinate system, combined with the actual layout of the factory, the position and orientation of fixed equipment, operational safety regulations, and the motion characteristics of the tooling, allowing pre-installed tooling in the sector to carry out hoisting, translation, and attitude fine-tuning operations on the sector to be transferred. The prohibited area refers to a three-dimensional spatial area defined in advance based on the global coordinate system, combined with the on-site equipment layout, assembly structure, safety regulations, and operational risk points, strictly prohibiting pre-installed tooling and the sector to be transferred from entering or approaching.

[0055] Specifically, considering the limited space in the sector assembly area and the high risk of the close-range stage, this embodiment first moves the sector to be transferred from its current position to its initial position. Based on the positioning information, the SSAT is then moved to an initial / waiting position at the target workstation. This position maintains a safe distance from the final assembly target and ensures that laser ranging can cover critical gaps. Only then does the close-range fine positioning stage begin. This layered strategy from coarse to fine positioning originates from common engineering practices in industrial assembly and robot docking. To avoid redundancy, it will not be elaborated upon here. Its advantage is that it decouples large-scale movement from high-precision alignment, reducing the frequency of operations and the risk exposure time in the close-range stage.

[0056] Furthermore, in a global coordinate system, this embodiment of the application digitally represents traversable areas and restricted areas (such as equipment occupancy areas, structures, and danger zones). This embodiment of the application uses classical path planning methods from related technologies to generate a route from the current position to the initial position. For example, on a discrete raster map, Dijkstra's algorithm or A... Heuristic search can be used in continuous space to plan waypoints and combine them with constraints to generate smooth trajectories. These algorithms are mature methods in the fields of robotics and autonomous navigation, and will not be elaborated on here to avoid redundancy.

[0057] During the operation, the embodiments of this application update the current position of the tooling in real time through the positioning device; if a deviation from the planned route is detected, yaw correction or path replanning is performed, and guidance information is output in the form of next direction and waypoint prompts on the interactive interface to reduce blind manual operation and repeated trial and error.

[0058] Furthermore, when the SSAT enters the preset range of the initial position, if the distance between the SSAT and the initial position is less than a set threshold, and the speed or rate of change is lower than the threshold, this embodiment determines that coarse positioning is complete and automatically switches from the transfer navigation mode to the close-range fine positioning mode. This mode switching adopts the state machine concept commonly used in control engineering in related technologies. According to the logical rules defined by "entry condition - hold condition - exit condition", it can ensure that the process is clear and verifiable, and avoid accidental triggering caused by the operator manually switching modes under stress.

[0059] In step S104, when the sector pre-assembly fixture is within a preset range, the gap and deviation of at least one ranging point on the sector pre-assembly fixture are determined based on the current pose and rigid body transformation relationship.

[0060] Optionally, in some embodiments, determining the gap and deviation of at least one ranging point on the sector pre-assembly fixture based on the current pose and rigid body transformation relationship includes: obtaining the position information of at least one ranging point based on the sector pre-assembly fixture coordinate system; mapping the position information of at least one ranging point to the global coordinate system based on the rigid body transformation relationship to obtain the global coordinates of at least one ranging point; and determining the gap and deviation of at least one ranging point based on the global coordinates of at least one ranging point and the current pose.

[0061] Among them, the ranging point refers to the feature detection point that is pre-selected on the pre-installed tooling body in the sector and used to mount the ranging sensor or as a ranging detection benchmark.

[0062] Specifically, in this embodiment, several laser rangefinders are deployed on the SSAT, and rangefinders are set along key directions such as left, right, front, back, up, and down, facing the target reference plane or key obstacle, and distance data is collected in real time. In this embodiment, the coordinates of each rangefinder in the tooling coordinate system are mapped to the global coordinate system through the rigid body transformation relationship determined in step S101, and then the measured distance is correlated with the current pose of the tooling to obtain the gap and deviation of the rangefinders that can be used for assembly judgment.

[0063] Furthermore, if the difference in distance measurements between left and right or front and back is large, the embodiments of this application can determine that there is a tilt or attitude deviation; if the differences between individual points are not large but the overall distance is too large or too small, then it is mainly a translational deviation. The idea of ​​inferring attitude deviation from multi-point distance measurement difference is a common near-field geometric discrimination method in industrial docking and assembly measurement in related technologies. Its advantage is that it is simple to implement and intuitive for operators. To avoid redundancy, it will not be described in detail here.

[0064] In step S105, a target control strategy is determined based on the gap and deviation of at least one ranging point, and an early warning reminder is given and / or the multiple cylinder groups of the pre-installed tooling in the sector are controlled according to the target control strategy.

[0065] Optionally, in some embodiments, a target control strategy is determined based on the gap and deviation of at least one ranging point, and an early warning is issued based on the target control strategy, including: identifying the threshold range in which the gap of any ranging point is located; determining the target control strategy based on the threshold range in which the gap of any ranging point is located, and issuing an early warning based on the target control strategy.

[0066] Optionally, in some embodiments, a target control strategy is determined based on the threshold range in which the gap of any ranging point is located, and an early warning reminder is given based on the target control strategy, including: if the gap of any ranging point is less than or equal to the corresponding early warning threshold and the gap of any ranging point is greater than the corresponding danger threshold, a risk warning is given and a target point movement step length reminder is generated; and if the gap of any ranging point is less than or equal to the corresponding danger threshold and the gap of any ranging point is greater than the corresponding stopping threshold, an acoustic danger warning and / or an optical danger warning is given, and the sector pre-installation fixture is reduced to a preset speed limit range; and if the gap of any ranging point is less than or equal to the corresponding stopping threshold, the sector pre-installation fixture is controlled to trigger interlock protection.

[0067] Among them, the warning threshold, danger threshold, and shutdown threshold can be user-preset thresholds, thresholds obtained through a limited number of experiments, or thresholds obtained through a limited number of computer simulations. Target jog step length reminder refers to the safety jog constraint prompt output by the system to the operator during the warning phase. Acoustic hazard reminder refers to the audible hazard alarm issued by the system through a sound-based warning device when the distance measurement point gap enters the danger threshold range. Optical hazard reminder refers to the visual hazard alarm issued by a visual warning device when the distance measurement point gap enters the danger threshold range. The preset speed limit range can be a user-preset range, a range obtained through a limited number of experiments, or a range obtained through a limited number of computer simulations. Interlock protection refers to the highest-level mandatory safety protection mechanism automatically triggered by the system when any distance measurement point gap is less than or equal to the corresponding shutdown threshold.

[0068] Specifically, this application embodiment sets multiple safety thresholds for each ranging point, such as a warning threshold, a danger threshold, and a stop or prohibition threshold, to determine in real time whether there is a collision risk. When the clearance in any direction of any ranging point is lower than the warning threshold, the interface prompts a risk and generates a target jog step size reminder, that is, it automatically suggests using a smaller jog step size; when it is lower than the danger threshold, this application embodiment triggers an acoustic hazard warning and / or an optical hazard warning, or an interface alarm, and limits the speed or jogs in the dangerous direction; when it is lower than the stop / prohibition threshold, interlock protection is triggered to prevent the SSAT from moving further in the dangerous direction.

[0069] Furthermore, this early warning method is derived from the mature threshold-based response and safety interlocking method in industrial safety engineering, which can transform the risks of close-range operations from empirical judgments into verifiable hard constraints. To avoid redundancy, it will not be elaborated on here.

[0070] Optionally, in some embodiments, a target control strategy is determined based on the gap and deviation of at least one ranging point, and multiple cylinder groups of the sector pre-assembly fixture are controlled according to the target control strategy, including: determining whether the sector pre-assembly fixture meets preset attitude adjustment conditions based on the deviation of at least one ranging point; if the sector pre-assembly fixture meets the preset attitude adjustment conditions, determining the attitude adjustment suggestion of the sector pre-assembly fixture, and determining the state of multiple cylinder groups of the sector pre-assembly fixture according to the attitude adjustment suggestion based on the preset cylinder group-pose response mapping relationship; controlling the corresponding cylinder group according to the state of the multiple cylinder groups until the attitude of the sector pre-assembly fixture meets the preset process requirements.

[0071] The preset attitude adjustment conditions can be user-defined, obtained through a limited number of experiments, or derived from a limited number of computer simulations. The attitude adjustment suggestion refers to a quantified attitude correction scheme output after calculation based on the deviation of the ranging point. A cylinder group refers to a coordinated execution unit composed of multiple hydraulic cylinders arranged according to layout requirements. The preset process requirements can be user-defined, obtained through a limited number of experiments, or derived from a limited number of computer simulations.

[0072] Specifically, in the precise positioning mode, this embodiment first compares the differences between each ranging point: when the left-right / front-back difference exceeds a set threshold, the posture is determined to be substandard, and posture adjustment suggestions are output first; when the difference is within the threshold, the posture is determined to be satisfactory, and then translation distance suggestions are output. This distribution strategy is derived from the general process principle of assembly alignment in related technologies, eliminating angular errors first and then positional errors, which can significantly reduce the need for repeated adjustments and trial and error.

[0073] Furthermore, the adjustment suggestions output by the interface are expressed in a simple way, such as "The gap on the left side is too small. It is recommended to raise the left side / lower the right side and perform this several times by jogging". After each jogging operation is completed, the distance measurement deviation data is automatically refreshed in this embodiment of the application, forming a closed-loop adjustment process of "jogging-measuring-re-suggestion" until the tooling posture and translation deviation both reach the preset threshold requirements.

[0074] Furthermore, to eliminate the operator's memory burden of the combination logic of multiple sets of hydraulic cylinders, the embodiments of this application encapsulate the complex relationship of "degree of freedom action - hydraulic cylinder group locking / following / control cylinder" inside the controller. Thus, this complexity objectively exists in the existing system and does not require manual memorization.

[0075] This application's embodiments can employ two well-defined and feasible methods: First, the rule table / template method, which solidifies the cylinder group state combinations corresponding to each type of action (pitch, roll, rise, translation, etc.) into action templates. The controller automatically calls the templates and executes jogs according to the aforementioned distribution strategy. Second, the calibration matrix + least squares solution method, which calibrates the approximate linear relationship between "cylinder stroke change - pose change" within a small range. Based on the current deviation, a set of cylinder jogs is solved using classical numerical methods such as least squares to minimize the deviation, and then the controller distributes them to each cylinder for execution. Both methods are mature approaches in the field of control and modeling. The key to this application's embodiments lies in applying them to a multi-cylinder SSAT system and linking them with a positioning / ranging closed-loop system, thereby achieving "guided and reproducible" control optimization without altering the structure of the hydraulic actuator.

[0076] Furthermore, the interface of this application embodiment presents core information in the form of "current deviation (attitude difference, translation difference) - risk status (safe / warning / danger) - next step suggestion (adjust attitude first or translation first, direction and suggested amount)". Operators no longer need to memorize the functions of each cylinder group, but only need to execute the jogging suggestions given by the system. This application embodiment automatically completes the state switching and interlock protection of the cylinder group in the background, and automatically updates the ranging and recalculates the deviation and suggestions after each jogging until the process threshold of initial alignment or final alignment is reached. Thus, this application embodiment couples "positioning and navigation (global coarse alignment)" and "laser ranging (near-field fine alignment and collision avoidance)" in the same coordinate system and the same state machine process, ultimately realizing a control optimization closed loop that can be engineered and implemented.

[0077] Therefore, the embodiments of this application transform the traditional experience-based "multi-cylinder inching debugging" into "positioning + distance measurement driven guided control". While ensuring safety interlocking, it significantly reduces the difficulty of understanding the operation interface and training costs, reduces misoperation and repeated trial and error, and improves the transfer and alignment efficiency, stability and repeatability of the tokamak sector pre-assembled tooling.

[0078] Furthermore, the embodiments of this application can further improve safety and efficiency through adaptive jog step size / speed control linked to "action suggestion - risk assessment": Before each jog, the system automatically provides two or more jog parameters (such as jog duration, valve opening limit, or speed limit) based on the minimum gap obtained from laser ranging, the gap change rate, and the remaining distance to the target. When approaching the danger threshold or the target threshold, it automatically switches to a fine-tuning strategy with smaller step sizes. Simultaneously, the recommended step size is presented on the interface, requiring only one click from the operator. This measure is easy to implement (essentially, it overlays a parameter scheduling based on ranging thresholds onto existing jog control) and significantly reduces the risk of overshoot or collision caused by using large step sizes when approaching the target, improving alignment efficiency and consistency.

[0079] Furthermore, this embodiment of the application can further reduce the reliance on cylinder assembly templates and manual parameter tuning through automatic calibration and online self-learning compensation of the "cylinder assembly-pose response": When the system is first put into use or during periodic maintenance, it performs several small movements on each degree of freedom according to a preset safe small-amplitude jog sequence, while simultaneously recording changes in positioning pose, changes in laser ranging difference, and cylinder stroke / pressure feedback, automatically generating a response model of "jog command-pose change"; if changes in load, oil temperature, or valve / cylinder performance drift are detected during subsequent operation, resulting in "inconsistency between suggested values ​​and actual changes", the model parameters are fine-tuned using online error updates to achieve "more accurate with use" compensation. This measure has a low implementation threshold (parameter fitting and updating based on existing sensor data), and its innovation lies in transforming the traditional experience-dependent cylinder mapping and step size tuning into automated calibration and adaptive compensation, thereby improving the long-term consistency and maintainability of the system.

[0080] Therefore, this application encapsulates the complex mapping relationship between the cylinder assembly and the pose in the background, with the interface only outputting deviation information and jog suggestions. This significantly reduces the learning cost of operation and effectively reduces false triggering and mode switching errors. Digital perception of pose and clearance is achieved through positioning and laser ranging. The system automatically generates and iteratively optimizes jog suggestions, reducing the number of trial adjustments, shortening alignment time, and improving the consistency and reproducibility of operations by different operators. Long-distance transport and initial alignment are completed based on positioning, while close-range precise positioning and collision avoidance protection are achieved by combining laser ranging, constructing a closed-loop control throughout the entire process, improving operational efficiency and safety controllability. A safety threshold grading mechanism is constructed based on ranging data. This system provides proactive protection through risk warnings, inching intensity limits, and prohibitions on movement in dangerous directions, significantly reducing collision risks. It automatically follows an adjustment logic of attitude prioritizing posture before translation, avoiding repeated adjustments due to human experience and improving alignment accuracy and operational efficiency. This embodiment requires no reconstruction of the mechanical structure or replacement of the hydraulic actuator; functional improvements are achieved simply by adding sensors and upgrading the control software and interface logic. It offers advantages such as short downtime, low engineering risk, and ease of adoption on existing production lines. The use of an adaptive inching adjustment and online self-learning compensation strategy can offset drift caused by changes in oil temperature, load, and component performance, ensuring long-term accurate and stable inching recommendations and reducing system maintenance and calibration costs.

[0081] To facilitate further understanding by those skilled in the art of the hydraulic control optimization method for sector pre-assembly fixtures proposed in this application, the hydraulic control optimization method for sector pre-assembly fixtures includes the following steps: S201, Start the system and load task parameters, including target workstation, initial position, safety threshold and jog template.

[0082] S202, determine whether the system has the conditions for execution, including whether the sensor is online, whether the interlock is normal, and whether the control communication is normal. If yes, proceed to step S203; otherwise, return to step S201.

[0083] S203, reads the location and updates the current location for navigation display.

[0084] S204. Determine whether the positioning can be used for navigation, including whether the data is stable, whether there are obvious jumps, and whether it can be continuously updated. If yes, proceed to step S205; otherwise, return to step S203.

[0085] S205 plans and guides the transfer to the initial location, while providing navigation prompts or replanning the route as needed.

[0086] S206, determine whether the initial position range has been reached, that is, whether the distance from the initial position has entered the threshold range and the state is stable. If yes, proceed to step S207; otherwise, return to step S205.

[0087] S207, start ranging and refresh key gaps, enter precise positioning guidance mode.

[0088] S208. Determine whether there is a collision risk that requires restricting actions, i.e., whether the gap in any direction triggers a danger or prohibition threshold. If so, proceed to step S209; otherwise, proceed to step S210.

[0089] S209, execute collision avoidance limits and alarms (only allow safe direction adjustment for reassessment), and return to execution step 207.

[0090] S210, determine whether the attitude needs to be adjusted first, i.e. whether the difference in left-right or front-back gap exceeds the attitude threshold. If yes, proceed to step S211; otherwise, return to step S212.

[0091] S211, Perform attitude jogging as suggested, such as adaptive jogging gear or step size, and then proceed to step S213.

[0092] S212, perform translation jogging as suggested, such as adaptive jogging gear or step size, and then proceed to step S213.

[0093] S213, after jogging, refresh the ranging and deviation, perform online consistency checks and self-learning compensation, update if available, skip if unavailable.

[0094] S214, determine whether the standard is met and the process can end, i.e. whether the posture and translation meet the process threshold. If yes, proceed to step S215; otherwise, return to step S207.

[0095] S215, End, which is the result confirmation and end prompt, can lock unnecessary actions.

[0096] Therefore, this application provides a hydraulic control optimization method for sector pre-assembly tooling based on positioning and ranging. The overall idea is to establish a global pose reference for the sector pre-assembly tooling (SSAT) using positioning information to achieve "automatic planning and positioning" during the transport phase; to achieve "collision avoidance warning and precise alignment" during the close-range phase using laser ranging information; and to encapsulate the complex mapping relationship between "multiple sets of cylinders—attitude / translational degrees of freedom" within the controller, transforming the operating interface from "memorizing cylinder sets" to "checking deviations and jogging according to suggestions," thereby significantly reducing learning costs and minimizing misoperations. This method is particularly suitable for scenarios where existing SSAT hydraulic systems already have multiple sets of cylinders and manual / automatic control interfaces, but the field needs to memorize the logic of multiple cylinder combinations.

[0097] The following description, in conjunction with specific embodiments, provides further details.

[0098] For example, this application takes the pre-assembled tooling of the vacuum chamber sector of a tokamak as an example. It provides a control and operation process that can be directly implemented for the hoisting and transportation of the tooling in the factory, the initial positioning near the target workstation, and the close-range precision positioning and alignment process. Without changing the existing hydraulic actuator configuration and basic control loop of the SSAT, this process achieves "global navigation to the initial position + close-range collision avoidance warning + step-by-step jog guidance (attitude first, then translation)" by adding a positioning device and a laser rangefinder sensor and upgrading the logic of the controller and human-machine interface.

[0099] Specifically, the system composition and installation layout of this application embodiment are as follows: First, a positioning device is installed on the SSAT to output the real-time position of the tooling within the working area. The positioning device can be any implementation that meets the requirements of on-site availability and accuracy (e.g., satellite differential positioning can be used outdoors, and an indoor positioning system can be used indoors). The positioning device should be fixed to a rigid structural part of the SSAT, and its position calibration relative to the tooling reference point should be completed during the initial system installation. Second, several laser ranging sensors are arranged in the key directions of the SSAT near the alignment interface, covering at least several directions such as left and right, front and back, and up and down, to measure the gap distance between the tooling or sector and the target reference surface / obstacle. The sensor installation should ensure that the ranging optical path is unobstructed, the ranging range covers the working interval from the initial position to the final alignment, and has the necessary protection (dustproof, collisionproof). Finally, the original multiple sets of cylinders, valve groups, hydraulic stations, and controllers of the SSAT remain unchanged. This application embodiment only adds "action templates / mapping tables" and "guidance logic and interlocking logic" to the controller software layer, and adds a "guidance page" to the human-machine interface to display deviations, risks, and next step suggestions, and provides a jog execution entry point.

[0100] Furthermore, this embodiment establishes a reference point and coordinate reference: A fixed reference point is selected in the work area as a global reference (e.g., a factory measurement control point or a long-term unchanging reference marker). During the configuration phase, this point is entered into the controller as a "global zero point." Subsequently, SSAT reference points are defined (e.g., the tooling center point or the projection point of a reference hole / reference surface specified in the design). A fixed relationship between the "positioning device measurement point" and the "SSAT reference point" is established through a one-time calibration. After completing the above configuration, the real-time position output by the positioning device can be converted into the position of the SSAT reference point in the global coordinate system for navigation and positioning determination.

[0101] Furthermore, in this embodiment, a target workstation and an initial position are set: Target workstation information is pre-established in the system configuration interface, including the global position of the target workstation, the allowed entry direction, and a reference datum for close-range alignment (e.g., a target reference surface or docking reference structure); simultaneously, an initial position is set, which maintains a safe clearance from the target datum and ensures that the laser rangefinder can stably measure the critical clearance from this position. The initial position is saved as a parameter (e.g., configured as "target workstation position + safety offset"), and the specific value is not limited, but determined by the on-site process and safety requirements.

[0102] Based on this, this embodiment uses pre-installed sector fixtures to transfer the sector to be transported from its current position to its initial position. When the operation begins, the operator selects the target workstation for this task on the interface. The system reads the current SSAT positioning position and automatically calculates the transport route to the initial position. The route can be expressed as a "waypoint sequence," consisting of several intermediate guide points to ensure avoidance of restricted areas and obstacle zones. The interface intuitively prompts the operator with the next direction of travel and remaining distance, and continuously refreshes the current position during the transport process. If a deviation from the route exceeds a set threshold, a correction prompt is given or a new waypoint sequence is automatically provided. This stage primarily relies on positioning information to achieve "reaching the vicinity of the initial position," and does not require the operator to understand the hydraulic cylinder assembly logic; the operator simply follows the navigation prompts to complete the hoisting and transport.

[0103] Furthermore, this embodiment of the application performs initial position determination and automatic mode switching. When the system detects that the deviation between the SSAT reference point and the initial position is less than a set threshold, and the current position change rate (or transfer speed) is lower than a set threshold, the initial position is determined to be complete. At this time, the system automatically switches to the fine positioning guidance mode, the interface switches to the fine positioning page, and laser ranging acquisition and anti-collision monitoring are started simultaneously. This automatic switching avoids omissions or errors caused by the operator manually switching modes under stressful working conditions.

[0104] Furthermore, this embodiment of the application implements near-range collision avoidance warning and interlocking. After entering the precise positioning guidance mode, the system reads the distance values ​​of each laser ranging sensor in real time and compares them with preset safety thresholds. The safety thresholds are configured in the form of parameters and include at least two levels: a warning threshold and a prohibition threshold (which can also be expanded to multiple levels). When any ranging value approaches the warning threshold, the interface prompts an increased risk and suggests using a more conservative jogging method; when any ranging value touches the prohibition threshold, the system restricts or prohibits jogging commands that may lead to further approach in that direction and triggers a significant alarm prompt. This interlocking only applies to the dangerous direction and does not affect adjustments away from the dangerous direction, ensuring both safety and operability.

[0105] This embodiment uses laser ranging values ​​to determine attitude deviation and translation deviation, prioritizing the comparison of left-right or front-back distance differences. If the difference exceeds a set threshold, the attitude is deemed unacceptable, and the interface directly outputs attitude adjustment suggestions, such as "The gap on one side is smaller; it is recommended to prioritize raising / lowering the attitude adjustment on the corresponding side," and provides a one-click adjustment entry. After the operator performs one adjustment, the system immediately refreshes the ranging and re-evaluates whether the difference has decreased. If it still does not meet the standard, this embodiment continues to provide the next attitude adjustment suggestion. When the left-right / front-back difference is within the threshold range, the system determines that the attitude meets the standard and automatically switches to translation guidance. At this time, the interface displays the overall distance deviation and direction suggestions, such as "The overall distance is too large; it is recommended to translate in the target direction." After the operator performs translation adjustment according to the suggestions, the system also refreshes and iterates in real time until the translation deviation enters the threshold range.

[0106] Furthermore, in this embodiment, the operator does not need to select a specific cylinder group at the interface level. The system maintains a set of action templates in the background, with each template corresponding to a understandable action type, such as posture adjustment, translation adjustment, and lifting fine adjustment. When the interface triggers a certain type of inching, the controller automatically calls the corresponding template, completes the locking or follow-up configuration of the relevant cylinder group, and selects the control cylinder to perform the inching. After the inching is completed, the system restores to a safe state or maintains the current linkage state according to predetermined logic for the next iteration. In this way, the cylinder combination logic that originally required the operator to remember is encapsulated within the system, thereby reducing the learning cost and minimizing misoperation.

[0107] Furthermore, when the system determines that both the attitude difference and translation difference meet the process thresholds, and all ranging points are within the safety threshold range, the interface prompts "Alignment met / Can proceed to the next process," and locks or restricts unnecessary actions (optional) to prevent accidental touches that could lead to deviation. Thus, this embodiment of the application completes the entire process control from transport to the initial position, to close-range precision positioning and collision avoidance guidance.

[0108] Furthermore, in another example, the "jog execution" stage is further optimized based on the above embodiments, enabling the system to automatically select a more suitable jog intensity based on the current safety risks and remaining deviations. This improves efficiency and safety without increasing the operator's burden. This application embodiment does not require modification of the hydraulic hardware structure of the SSAT. It only requires that the controller has an adjustable jog parameter interface (such as jog duration, upper limit of valve opening, upper limit of speed, or upper limit of jog count, which are determined by the available parameters of the field control system) and that positioning and laser ranging sensors have been deployed.

[0109] Furthermore, in this embodiment, the system establishes an "adaptive jog parameter scheduling" logic for each jog action in the fine positioning guidance mode. Its basic inputs include: the current minimum gap of each laser ranging point (used to characterize collision risk), the gap change trend (used to characterize whether it is approaching or moving away from the dangerous direction), and whether the current deviation mainly comes from attitude difference or translation difference (used to characterize whether coarse or fine adjustment is needed). The system pre-sets several jog parameter templates, such as coarse adjustment, medium adjustment, and fine adjustment, each corresponding to a set of jog parameters (configured in parameter form), and each level can correspond to attitude adjustment actions and translation adjustment actions respectively.

[0110] Furthermore, when the system determines that it is in an area with a large safety margin, such as when all ranging points are significantly larger than the warning threshold and the deviation is large, the interface provides a jog suggestion that defaults to coarse or medium adjustment to reduce the number of iterations and improve efficiency. When the system determines that it is approaching the target or a risk area, such as when the minimum gap is close to the warning threshold or the deviation is close to the process threshold and fine convergence is required, the system automatically switches the suggested jog setting to fine adjustment and prominently displays "Fine jog has been entered" on the interface. If it is further close to the danger threshold, the system not only switches to the most conservative fine adjustment, but also constrains the direction of action, allowing only jogs "away from the danger direction", or only providing a jog button for the safe direction on the interface to avoid collision risks caused by operator accidental triggering.

[0111] Furthermore, to ensure interpretability and operability, this embodiment requires the interface to display the text prompt "Recommended Gear / Recommended Step Size" each time a jog suggestion is given, and allows the operator to manually switch gears when permissions permit, but the system forcibly locks to a conservative gear near the danger threshold. After each jog, the system immediately refreshes the ranging and deviation judgment results. If the deviation convergence is not as expected or the gap change is abnormal, the jog gear is automatically reduced and the operator is prompted to check the on-site status; if the deviation converges quickly and the safety margin is sufficient, the system is allowed to automatically increase to a higher efficiency gear. Through the above-mentioned "risk-deviation-jog parameter" linkage scheduling, this embodiment achieves adaptive coarse and fine adjustment control under the same guidance process, avoiding two common problems: overshoot caused by using large step sizes when approaching the target or low efficiency caused by small step sizes throughout, further improving alignment efficiency and safety consistency.

[0112] Furthermore, in another example, this application embodiment further optimizes the acquisition and maintenance method of "action template / mapping parameters" based on the background cylinder group mapping of the above embodiments. The goal is to enable the system to automatically establish and continuously correct the relationship between jogging actions and actual pose changes without relying on long-term manual tuning, so as to maintain the accuracy and consistency of guidance suggestions under conditions such as load changes, oil temperature changes, valve wear, or assembly condition changes. This application embodiment also does not require structural modifications to the SSAT hydraulic hardware, but the system needs to be able to collect positioning and laser ranging data, and be able to record the action type and jogging parameters (such as jogging direction, jogging duration / gear, etc.) of each jogging action.

[0113] The embodiments of this application include two stages: the initialization automatic calibration stage and the online compensation operation stage.

[0114] The initial automatic calibration phase can be performed during initial equipment commissioning, major overhaul, or routine maintenance. Under the premise of ensuring surrounding safety and effective interlocking, the system sequentially tests several typical actions according to a preset safe small-amplitude jog sequence, such as forward / reverse jogs for attitude adjustment and forward / reverse jogs for translation adjustment. Each jog uses a conservative jog setting, and the positioning changes, distance measurement point changes, and jog parameters are recorded before and after each jog. Based on these records, the system automatically generates a set of action response parameters to characterize the pose and distance changes typically resulting from a single jog. This parameter set can be understood as a calibration of the action template's effect and is saved in the form of a parameter table, eliminating the need for operators to manually fill in complex mapping relationships.

[0115] After entering normal operation, the system performs an online consistency check each time a guided jog is executed: the expected reduction in the direction and magnitude of the deviation suggested in this instance is compared with the actual measured change in deviation after the jog. If multiple instances of actual changes being too small are found, such as insufficient deviation reduction after jogging, indicating that increased oil temperature has led to a dulled system response, or that load changes have led to reduced efficiency, the system will automatically make conservative adjustments to the response parameters corresponding to that action category, making subsequent suggestions closer to reality. If actual changes are found to be too large, such as excessively rapid deviation convergence after jogging, indicating a risk of overshoot, the system will automatically reduce the suggestion strength for that action category and, in the adaptive jogging logic of the above embodiment, will favor the use of fine-tuning gears. To avoid drift caused by mislearning, this application embodiment sets boundary conditions for online compensation: updates are only allowed when the ranging signal is stable, the positioning signal is stable, and the interlocking status is normal. The update magnitude is limited to a preset upper limit. If sensor abnormalities occur or the environment changes significantly, updates are paused and a prompt to re-execute the initialization calibration is displayed.

[0116] Regarding the interface presentation, this embodiment adds calibration status or health status prompts, such as displaying the validity period of the current parameter set, whether it is in the learning compensation process, and whether maintenance calibration is recommended, but does not require the operator to participate in parameter calculation. Through this "automatic calibration + online self-learning compensation" approach, this embodiment can transform the motion effect tuning that originally relied on experience into a repeatable automated process, enabling the system to stably output accurate attitude / translation jog suggestions even under long-term operation and changing working conditions, and further reducing maintenance costs and human error.

[0117] Therefore, this application constructs a hierarchical closed-loop control framework of "positioning + ranging". Positioning enables long-distance transport and initial positioning, while laser ranging enables close-range collision avoidance and precise positioning. The framework automatically switches the dominant position of the two types of sensor information within the same control flow, forming a hierarchical closed loop that can be implemented in engineering. By establishing the relationship between a global benchmark and tooling reference points, information such as current position, initial position, target workstation, and ranging direction can be understood and calculated by the system under the same reference, thus supporting the consistency of path planning, positioning determination, and guidance output. Differences in ranging points are used to determine whether there is an attitude deviation, and the process sequence is solidified accordingly. Attitude jogging is guided first, and translational jogging is guided only after the attitude meets the standard, avoiding reliance on operator memory or experience to select the sequence, significantly reducing operational errors. The ranging results are directly used for safety strategies; when the gap approaches or touches... When the threshold is reached, the system automatically alarms or limits the speed and step size, and prohibits inching in the dangerous direction when the dangerous threshold is reached, allowing only adjustments in the safe direction, thus improving inherent safety. The interface no longer exposes the complex relationships of which cylinder groups are locked, followed, or controlled. Instead, the controller automatically completes the cylinder group status configuration and inching execution based on the current guided action, allowing the operator to only follow the suggested actions, while the system is responsible for the cylinder combination. The inching gear or step size is automatically selected based on the minimum clearance and remaining deviation. When the risk is far away and the deviation is large, efficiency is prioritized, and when the target is approached or the risk increases, automatic fine-tuning is performed to reduce overshoot and repeated attempts. A parameter set is established by collecting the response relationship of "inching command - actual posture or clearance change" through safe small inching, and continuous correction is made with feedback during operation to offset the drift caused by changes in load, oil temperature, wear, etc., so that the guidance suggestions are stable and effective in the long term.

[0118] The hydraulic control optimization method for sector pre-assembly fixtures proposed in this application establishes a global and sector pre-assembly fixture coordinate system, determines the rigid body transformation relationship between the coordinate systems, determines the initial position of the sector to be transferred, and transfers the sector to be transferred from the current position to the initial position. It also determines the gap and deviation of at least one measuring point on the sector pre-assembly fixture, determines the target control strategy, and provides early warning and / or controls multiple cylinder groups of the sector pre-assembly fixture. This solves the problems of high learning costs, high risk of misoperation, low adjustment efficiency, insufficient collision avoidance margin, and prominent safety hazards in heavy-duty operations in related technologies, improving the safety, efficiency, and repeatability of the transfer and alignment process.

[0119] Next, referring to the accompanying drawings, a hydraulic control optimization device for sector pre-assembly tooling proposed according to an embodiment of this application is described.

[0120] Figure 3 This is a block diagram of a hydraulic control optimization device for a sector pre-assembly fixture according to an embodiment of this application.

[0121] like Figure 3 As shown, the hydraulic control optimization device 10 of the pre-installed tooling in this sector includes: a construction module 100, a first determination module 200, an identification module 300, a second determination module 400, and a control module 500.

[0122] Module 100 is constructed to establish a global coordinate system and a sector pre-installed tooling coordinate system, and to determine the rigid body transformation relationship between the global coordinate system and the sector pre-installed tooling coordinate system. The first determining module 200 determines the current pose of the sector pre-installation fixture and the target station of the sector to be transferred, and determines the initial position of the sector to be transferred based on the target station. The identification module 300 obtains the current position of the sector pre-assembly fixture, and uses the sector pre-assembly fixture to transfer the sector to be transferred from the current position to the initial position, and identifies whether the sector pre-assembly fixture is within the preset range determined by the initial position; The second determining module 400, when the sector pre-assembly fixture is within a preset range, determines the gap and deviation of at least one ranging point on the sector pre-assembly fixture based on the current pose and rigid body transformation relationship. The control module 500 determines the target control strategy based on the gap and deviation of at least one ranging point, and provides early warning reminders and / or controls multiple cylinder groups of pre-installed tooling in the sector according to the target control strategy.

[0123] According to one embodiment of this application, the identification module 300 is specifically used for: Identify the accessible and restricted areas; Based on the global coordinate system, a planned route from the current position to the initial position is generated according to the passable area and the restricted area; Based on the planned route, the sector to be transferred will be transferred from its current position to its initial position.

[0124] According to one embodiment of this application, the second determining module 400 is specifically used for: Based on the sector pre-installed tooling coordinate system, obtain the position information of at least one ranging point; Based on rigid body transformation relationships, the position information of at least one ranging point is mapped to the global coordinate system to obtain the global coordinates of at least one ranging point; Determine the gap and deviation of at least one ranging point based on the global coordinates and current pose of at least one ranging point.

[0125] According to one embodiment of this application, the control module 500 is specifically used for: Identify the threshold range in which the gap of any ranging point lies; The target control strategy is determined based on the threshold range of the gap at any ranging point, and an early warning is issued based on the target control strategy.

[0126] According to one embodiment of this application, the control module 500 is specifically used for: If the gap between any ranging point is less than or equal to the corresponding warning threshold, and the gap between any ranging point is greater than the corresponding danger threshold, a risk warning will be issued and a target point movement step length reminder will be generated. Furthermore, if the gap between any ranging point is less than or equal to the corresponding danger threshold, and the gap between any ranging point is greater than the corresponding shutdown threshold, then an acoustic hazard warning and / or an optical hazard warning will be issued, and the sector pre-installed fixture will be reduced to the preset speed limit range. Furthermore, if the gap at any ranging point is less than or equal to the corresponding shutdown threshold, the pre-installed tooling in the control sector will trigger interlock protection.

[0127] According to one embodiment of this application, the control module 500 is specifically used for: Based on the deviation of at least one ranging point, determine whether the pre-installed tooling of the sector meets the preset attitude adjustment conditions. If the sector pre-installed fixture meets the preset attitude adjustment conditions, then the attitude adjustment suggestion of the sector pre-installed fixture is determined, and based on the preset cylinder group-pose response mapping relationship, the state of multiple cylinder groups of the sector pre-installed fixture is determined according to the attitude adjustment suggestion. Control the corresponding hydraulic cylinder group according to the status of multiple hydraulic cylinder groups until the posture of the pre-installed tooling in the sector meets the preset process requirements.

[0128] According to one embodiment of this application, the first determining module 200 is specifically used for: Obtain the heading angle of the pre-installed fixture in the sector; The current pose of the pre-installed tooling in the sector is obtained by calculating the heading angle.

[0129] It should be noted that the explanation of the above-mentioned embodiment of the hydraulic control optimization method for sector pre-assembly fixtures also applies to the hydraulic control optimization device for sector pre-assembly fixtures in this embodiment, and will not be repeated here.

[0130] The hydraulic control optimization device for sector pre-assembly fixtures proposed in this application establishes a global coordinate system and a coordinate system for the sector pre-assembly fixture, determines the rigid body transformation relationship between the coordinate systems, determines the initial position of the sector to be transferred, and transfers the sector to be transferred from the current position to the initial position. It also determines the gap and deviation of at least one measuring point on the sector pre-assembly fixture, determines the target control strategy, and provides early warning and / or controls multiple cylinder groups of the sector pre-assembly fixture. This solves the problems of high learning costs, high risk of misoperation, low adjustment efficiency, insufficient collision avoidance margin, and prominent safety hazards in heavy-duty operations in related technologies, improving the safety, efficiency, and repeatability of the transfer and alignment process.

[0131] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. The electronic device may include: The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0132] When the processor 402 executes the program, it implements the hydraulic control optimization method for the sector pre-loading tooling provided in the above embodiments.

[0133] Furthermore, electronic devices also include: Communication interface 403 is used for communication between memory 401 and processor 402.

[0134] The memory 401 is used to store computer programs that can run on the processor 402.

[0135] The memory 401 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0136] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0137] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0138] Processor 402 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention.

[0139] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described hydraulic control optimization method for sector pre-loading tooling.

[0140] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps in the hydraulic control optimization method embodiment of any of the above-described sector pre-loading tooling.

[0141] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0142] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0143] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A hydraulic control optimization method for a sector pre-assembly fixture, characterized in that, include: Establish a global coordinate system and a sector pre-assembly tooling coordinate system, and determine the rigid body transformation relationship between the global coordinate system and the sector pre-assembly tooling coordinate system; Determine the current pose of the pre-installed fixture for the sector and the target workstation of the sector to be transferred, and determine the initial position of the sector to be transferred based on the target workstation; Obtain the current position of the sector pre-assembly fixture, and use the sector pre-assembly fixture to transfer the sector to be transferred from the current position to the initial position, and identify whether the sector pre-assembly fixture is within a preset range determined by the initial position; When the sector pre-assembly fixture is within the preset range, the gap and deviation of at least one ranging point on the sector pre-assembly fixture are determined based on the current pose and the rigid body transformation relationship. The target control strategy is determined based on the gap and deviation of the at least one ranging point, and early warning reminders and / or control of multiple cylinder groups of the pre-installed tooling in the sector are given according to the target control strategy.

2. The method according to claim 1, characterized in that, The step of transferring the sector to be transferred from the current position to the initial position using the sector pre-loading fixture includes: Identify the accessible and restricted areas; Based on the global coordinate system, a planned route from the current position to the initial position is generated according to the passable area and the restricted area; Based on the planned route, the sector to be transferred is transferred from the current position to the initial position.

3. The method according to claim 1, characterized in that, The step of determining the gap and deviation of at least one ranging point on the sector pre-assembly fixture based on the current pose and the rigid body transformation relationship includes: Based on the coordinate system of the pre-installed tooling in the sector, the position information of the at least one ranging point is obtained; Based on the rigid body transformation relationship, the position information of the at least one ranging point is mapped to the global coordinate system to obtain the global coordinates of the at least one ranging point; The gap and deviation of the at least one ranging point are determined based on the global coordinates of the at least one ranging point and the current pose.

4. The method according to claim 1, characterized in that, The step of determining the target control strategy based on the gap and deviation of the at least one ranging point, and issuing an early warning reminder based on the target control strategy, includes: Identify the threshold range in which the gap of any ranging point lies; The target control strategy is determined based on the threshold range of the gap of any of the ranging points, and an early warning reminder is given based on the target control strategy.

5. The method according to claim 4, characterized in that, The step of determining the target control strategy based on the threshold range of the gap at any of the ranging points, and issuing an early warning reminder based on the target control strategy, includes: If the gap between any of the ranging points is less than or equal to the corresponding warning threshold, and the gap between any of the ranging points is greater than the corresponding danger threshold, a risk warning will be issued and a target point step length reminder will be generated. Furthermore, if the gap between any of the ranging points is less than or equal to the corresponding danger threshold, and the gap between any of the ranging points is greater than the corresponding shutdown threshold, then an acoustic hazard warning and / or an optical hazard warning will be issued, and the sector pre-installed fixture will be reduced to a preset speed limit range. Furthermore, if the gap between any of the ranging points is less than or equal to the corresponding shutdown threshold, the pre-installed tooling of the sector is controlled to trigger interlock protection.

6. The method according to claim 1 or 5, characterized in that, The step of determining a target control strategy based on the gap and deviation of at least one ranging point, and controlling multiple cylinder groups of the pre-assembled tooling in the sector according to the target control strategy, includes: Based on the deviation of the at least one ranging point, determine whether the sector pre-installed fixture meets the preset attitude adjustment conditions; If the sector pre-installed fixture meets the preset attitude adjustment conditions, then the attitude adjustment suggestion of the sector pre-installed fixture is determined, and based on the preset cylinder group-pose response mapping relationship, the state of multiple cylinder groups of the sector pre-installed fixture is determined according to the attitude adjustment suggestion. Control the corresponding hydraulic cylinder group according to the status of the multiple hydraulic cylinder groups until the posture of the pre-installed tooling in the sector meets the preset process requirements.

7. The method according to claim 1, characterized in that, Determining the current pose of the sector pre-installed fixture includes: Obtain the heading angle of the pre-installed tooling in the sector; The current pose of the pre-installed tooling in the sector is calculated based on the heading angle.

8. A hydraulic control optimization device for a sector pre-assembly fixture, characterized in that, include: The module is constructed to establish a global coordinate system and a sector pre-installed tooling coordinate system, and to determine the rigid body transformation relationship between the global coordinate system and the sector pre-installed tooling coordinate system. The first determining module determines the current pose of the pre-installed tooling of the sector and the target station of the sector to be transferred, and determines the initial position of the sector to be transferred based on the target station. The identification module obtains the current position of the sector pre-assembly fixture, and uses the sector pre-assembly fixture to transfer the sector to be transferred from the current position to the initial position, and identifies whether the sector pre-assembly fixture is within a preset range determined by the initial position; The second determining module, when the sector pre-assembly fixture is within the preset range, determines the gap and deviation of at least one ranging point on the sector pre-assembly fixture based on the current pose and the rigid body transformation relationship; The control module determines a target control strategy based on the gap and deviation of the at least one ranging point, and provides early warning and / or controls multiple cylinder groups of the pre-installed tooling in the sector based on the target control strategy.

9. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, the processor executing the program to implement the hydraulic control optimization method for the sector pre-assembly fixture as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the hydraulic control optimization method for the sector pre-assembly fixture as described in any one of claims 1-7.

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