Hoisting control system and method for modularized fast-installed electrical equipment

Abstract

The invention relates to the technical field of hoisting control, in particular to a hoisting control system and method for modularized fast-installed electrical equipment, which forcibly limits the sequence relation of the whole clamping and propelling process through a finite-state machine, so that the propelling direction, segmented propelling, syn-position recording and propelling and maintaining switching of a clamping component are all controlled by state constraint; through Markov decision, subsequent state transfer is associated only according to current state information in a holding stage, so that reverse displacement change in the holding stage is not judged by a single-point threshold value any more, but is continuously associated in a state sequence form, the conditions of syn-position jumping, advanced holding and repeated advancing in clamping action are avoided, and the clamping efficiency is improved. The development trend of reverse displacement is described through inter-state transfer records, so that formation of a keeping interval is established on the basis of continuous state consistency, continuous transfer association based on the current state is formed in the keeping stage, and the clamping process has controllability in time dimension and space dimension at the same time.

Description

Technical Field

[0001] This invention relates to the field of hoisting control technology, and in particular to a modular quick-assembly electromechanical equipment hoisting control system and method. Background Technology

[0002] The field of hoisting control technology specifically involves control schemes that apply controlled constraints and coordinate actions of electromechanical equipment during hoisting, relocation, and positioning. This technology aims to ensure the safety and stability of hoisting operations, focusing on technical issues related to load fixing, force distribution, action sequence limitation, and state maintenance during the hoisting process. The key is to prevent relative displacement, attitude deviation, and clamping failure of electromechanical equipment during the lifting, hovering, and positioning stages through clear control logic and actuators. Hoisting control technology typically serves the installation, transportation, and maintenance of heavy and irregularly shaped electromechanical equipment. The core of this technology lies not in the strength of the lifting equipment itself, but in the controllability constraints of the hoisting process.

[0003] A modular, quick-assembly electromechanical equipment hoisting control system is a structured control scheme applied to electromechanical equipment hoisting operations. By defining the sequential relationship between clamping, locking, and hoisting actions, it achieves unified control of the hoisting process. The system aims to solve the problems of single equipment clamping points, uncertain force paths, and reliance on past experience in traditional hoisting processes. It establishes a stable multi-point constraint state before hoisting and maintains this state during hoisting. The system ensures that the hoisted electromechanical equipment maintains a fixed posture during lifting, moving, and positioning, reducing the risks of swaying, slippage, and detachment caused by insufficient clamping and disordered actions. This achieves the technical effect of predictable, repeatable, and controllable hoisting processes.

[0004] Existing hoisting control schemes often rely on traditional experience to coordinate clamping, locking, and lifting sequences in actual operations. The clamping and advancing process typically employs continuous advancement and a single-step approach, lacking discrete management of the sequential relationships within the advancement process. Switching between advancement and holding depends on operator judgment, and the absence of segment numbering and sequential locking structures makes it difficult to promptly identify local adjustments, repeated advancements, and premature holding during clamping. During the holding phase, the judgment of reverse displacement of clamping components is mostly based on instantaneous changes and single-detection results, lacking state correlation processing for the continuity of displacement changes. Slight retraction can be detected through multiple superimposed... Stability issues only became apparent later. The multi-point clamping synchronization relied on traditional visual inspection and single-point confirmation, which made it difficult to reflect the consistency of the overall holding state. Although the initial and final positions were considered during the locking phase, there was a lack of unified reference between the entry path sequence and the clamping order. The verification of the locking status of the clamping execution channel, locking execution channel, and force path before lifting lacked systematic integration. This led to situations in actual operation where the clamping surface was stable but displacement had occurred during the holding phase, the locking path was interfered with and deviated, and the lifting conditions were still triggered. This increased the possibility of attitude deviation during the hovering phase, repeated positioning adjustments, and exposure of safety risks. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and to propose a modular quick-assembly electromechanical equipment hoisting control system and method.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a modular quick-assembly electromechanical equipment hoisting control system includes: Loading constraint module: By obtaining the equipment placement position number, guide limit trigger status and lifting lug installation position number, it verifies the correspondence between the bottom surface of the equipment and the placement area and checks the distance between the outer edge of the equipment and the limit boundary, confirms the correspondence between the lifting lug and the center of gravity projection, and generates loading attitude constraint benchmark. Clamping sequence module: Based on the loading attitude constraint reference, the clamping component's advancing direction is defined according to the sequence relationship defined by the finite state machine and the advancement is carried out in segments. After recording the completion order of each segment, the advancement and holding are switched, the completed segment number is locked, and the clamping advancement sequence trajectory is output. Clamping stabilization module: Based on the clamping and advancing sequence trajectory, compare the current position of the clamping component with the allowable range, record the continuous status of the holding period, and associate the reverse displacement changes of the current state and the subsequent state according to Markov decision, check the multi-point clamping synchronization status, and obtain the clamping holding range identifier; Locking consistency module: Based on the loading attitude constraint benchmark and the clamping and pushing sequence trajectory, it verifies the initial position of the locking component and checks the locking entry path sequence, compares the locking action with the clamping sequence and checks the changes in the locking position, and establishes a locking assembly matching mark. Lifting Permit Module: Based on the locking assembly matching mark, it checks the closing status of the clamping execution channel and the locking execution channel, confirms the locking status of the lifting lug force path and compares the consistency of the lifting triggering conditions, and obtains the lifting action activation command.

[0007] As a further embodiment of the present invention, the loading posture constraint reference includes the equipment placement position number, the correspondence between the equipment bottom surface and the placement area, and the correspondence between the installation position of the lifting lug and the projection of the equipment center of gravity. The clamping and advancing sequence trajectory includes the segment numbering order of the segmented advancing of the clamping component, the position record corresponding to each segment, and the sequence identifier of the advancing and holding states. The clamping and holding interval identifier includes the holding time range of the clamping component within the allowable interval, the interval overlap information of the synchronous holding of multiple clamping components, and the corresponding holding state number. The locking assembly matching mark includes the initial position number of the locking component, the locking entry path sequence identifier, and the correspondence between the locking position change and the clamping sequence. The lifting action activation command includes the clamping execution channel closed state identifier, the locking execution channel closed state identifier, and the lifting lug force path locking state identifier.

[0008] As a further aspect of the present invention, the loading constraint module includes: Loading and positioning submodule: Based on the equipment placement location number, guide limit trigger status and lifting lug installation location number, it compares the placement location number with the placement area number item by item, and verifies the contact point between the guide limit trigger point and the outer edge of the equipment to generate a loading and positioning relationship record; Attitude verification submodule: Based on the loading positioning relationship record, verify the outline of the contact area of ​​the bottom surface of the equipment and the placement area side by side, check the distance between the outer edge of the equipment and the limit boundary, and compare the installation position of the hoisting ear with the projection position of the center of gravity of the equipment point by point to generate the loading attitude constraint benchmark.

[0009] As a further aspect of the present invention, the clamping sequence module includes: Propulsion direction constraint submodule: Based on the loading attitude constraint benchmark, the initial orientation of the clamping component is checked item by item and the propulsion direction mark is selected. After verifying that the orientation is consistent with the loading attitude, it is written into the direction mark table to obtain the propulsion direction constraint information. Segmentation sequence recording submodule: Based on the propulsion direction constraint information, the clamping component is propulsed in segments according to the state switching sequence defined by the finite state machine. The segment number is recorded at the end of the segment and written into the sequence table. When the state completion trigger condition is met, the propulsion is switched to hold and the segment number is locked after recording the time. The segment completion sequence set is obtained. Sequence trajectory generation submodule: Based on the segment completion sequence set, sort the segment numbers, extract the corresponding positions of the segments and splice the path list in order, check and lock the segments to ensure consistency, write the results into the path table, and generate the clamping and propulsion sequence trajectory.

[0010] As a further embodiment of the present invention, the finite state machine system uses the loading attitude constraint reference as the initial state determination input. In the initial state, only the propulsion direction limiting submodule is allowed to calibrate the starting orientation of the clamping component and complete the writing of the propulsion direction mark. After the direction mark table is generated, the state transitions to the segmented propulsion state. The clamping component is propulsed segment by segment in sequence, and the segment number is written at the end of each segment and the time is recorded. After the segment is locked, the state is triggered to switch to the next segment propulsion and holding state until each segment is completed and the trajectory generation state is entered. In the trajectory generation state, the locked segment numbers are sorted and the corresponding position splicing path list is extracted.

[0011] As a further aspect of the present invention, the clamping stabilization module includes: Position interval verification submodule: Based on the clamping and advancing sequence trajectory, extract the current position coordinates of the clamping component item by item, read the coordinates and perform sequential segment mapping, compare the current position with the allowable interval boundary point by point and mark the interval status to generate a position interval status set; The displacement monitoring submodule maintains the position interval state set, divides the holding stage into a continuous state sequence and extracts the start and end times of each state. In each state, it records the reverse change of the clamping component position and forms the displacement change relationship between adjacent states. Based on Markov decision, it uses only the current state information to determine the next state recording direction and completes the state transition registration, thus obtaining a stable holding feature set. Synchronization State Determination Submodule: Based on the stable holding feature set, the time period numbers of the multi-point clamping components are aligned and the corresponding position status is checked item by item. After marking the overlapping range of the multi-point holding intervals, the status is confirmed to merge the numbers, and the clamping holding interval identifier is obtained.

[0012] As a further aspect of the present invention, the Markov decision-making system uses the position interval state set generated by the position interval verification submodule as the initial state input, discretizes the clamping and holding stage into a continuous state sequence, and reads only the reverse change record of the clamping component position and the start and end time information of the state corresponding to the current state in each state. Based on the determined state transition direction, the current state and the selected next state are sequentially registered to form a state transition record. The state transition process continues to act on the holding displacement monitoring submodule until a stable holding feature set is formed, and then the feature set is output to the synchronization state determination submodule.

[0013] As a further aspect of the present invention, the locking consistency module includes: Initial path verification submodule: Based on the loading attitude constraint benchmark and the clamping and advancing sequence trajectory, read the initial position number of the locking part, compare the initial position number with the position number, and verify the sequence of entry path nodes with the sequence of clamping segments to generate a locking path consistency feature set; Sequence change verification submodule: Based on the locking path consistency feature set, extract the locking action trigger time and compare the trigger time with the clamping sequence completion number. After recording the lock position number change, verify the position change with the segment number and establish a locking assembly matching mark.

[0014] As a further aspect of the present invention, the lifting permit module includes: Channel closure verification submodule: Based on the locking assembly matching mark, read the clamping execution channel status item and compare it with the channel opening and closing identifier item by item. After reading the locking execution channel status item, compare it with the channel status number, register the combination of the two types of channel status, and establish a channel closure status set. Condition Consistency Verification Submodule: Based on the channel closure state set, read the lifting lug force path lock identifier and compare the force path number with the state item. After reading the lifting trigger condition entries, perform condition number consistency check and summary to obtain the lifting action activation command.

[0015] A method for controlling the hoisting of modular quick-assembly electromechanical equipment, wherein the method is executed based on the aforementioned modular quick-assembly electromechanical equipment hoisting control system, and includes the following steps: S1: Based on the equipment placement location number, guide limit trigger status and hoisting lug installation location number, perform consistency verification on the correspondence between the bottom surface of the equipment and the placement area, the distance between the outer edge of the equipment and the limit boundary, and the relationship between the hoisting lug and the center of gravity projection, and establish loading posture constraint benchmarks. S2: Based on the loading attitude constraint benchmark, the direction of the clamping component is limited, the clamping process is divided into multiple segments of the advancement sequence, the completion status of each segment is recorded in sequence and the advancement and holding are switched, the segment number is locked, and the clamping advancement sequence trajectory is generated. S3: Based on the clamping and advancing sequence trajectory, compare the current position of the clamping component with the allowable interval, record the continuous time period of the holding state and associate the reverse displacement under the state change, and at the same time check the multi-point clamping synchronization relationship to obtain the clamping holding interval identifier; S4: Based on the loading attitude constraint reference and the clamping and pushing sequence trajectory, check the initial position and entry path sequence of the locking component, and check the position change and clamping sequence correspondence after the locking action is completed, and establish a locking assembly matching mark. S5: Based on the locking assembly matching mark, check the closing status of the clamping execution channel and the locking execution channel, confirm the locking status of the lifting lug force path, and perform a consistency comparison of the lifting triggering conditions to obtain the lifting action activation command.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are as follows: 1. In this invention, the sequential relationship of the entire clamping and pushing process is forcibly limited by a finite state machine, so that the pushing direction, segmented pushing, sequence recording, and switching between pushing and holding of the clamping component are all controlled by state constraints. The clamping process is transformed from a continuous operation into a discrete execution sequence with clear state boundaries and segment identifiers. 2. In this invention, Markov decision-making is used to associate subsequent state transitions based solely on the current state information during the holding phase. This ensures that the reverse displacement change during the holding phase is no longer judged by a single-point threshold, but is continuously associated in the form of a state sequence, thus avoiding sequential jumps, premature holding, and repeated advancement during the clamping action. 3. In this invention, the development trend of reverse displacement is characterized by state transition records, and joint verification is performed with the multi-point clamping synchronization state, so that the formation of the holding interval is based on the consistency of continuous states. The overall processing logic forms irreversible state constraints in the advancement stage and forms continuous transition associations based on the current state in the holding stage, so that the clamping process is controllable in both time and space dimensions. Attached Figure Description

[0017] Figure 1 This is a system flowchart of the present invention; Figure 2 This is a schematic diagram of the method steps of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] Example 1 Please see Figure 1 This invention provides a technical solution: a modular quick-assembly electromechanical equipment hoisting control system comprising: Loading constraint module: By obtaining the equipment placement position number, guide limit trigger status and lifting lug installation position number, it verifies the correspondence between the bottom surface of the equipment and the placement area and checks the distance between the outer edge of the equipment and the limit boundary, confirms the correspondence between the lifting lug and the center of gravity projection, and generates loading attitude constraint benchmark. Clamping sequence module: Based on the loading attitude constraint reference, the clamping component advance direction is defined according to the sequence relationship defined by the finite state machine and the advancement is carried out in segments. After recording the completion order of each segment, the advancement and holding are switched, the number of the completed segment is locked, and the clamping advancement sequence trajectory is output. Clamping stabilization module: Based on the clamping and propulsion sequence trajectory, compare the current position of the clamping component with the allowable range, record the continuous status of the holding period, and associate the reverse displacement changes of the current state and the subsequent state according to Markov decision, check the multi-point clamping synchronization status, and obtain the clamping holding range identifier; Locking consistency module: Based on the loading attitude constraint benchmark and clamping propulsion sequence trajectory, it verifies the initial position of the locking component and checks the locking entry path sequence. After comparing the locking action with the clamping sequence, it checks the changes in the locking position and establishes a locking assembly matching mark. Lifting Permit Module: Based on the locking assembly matching mark, it checks the closing status of the clamping execution channel and the locking execution channel, confirms the locking status of the lifting lug force path, compares the consistency of the lifting trigger conditions, and obtains the lifting action activation command.

[0020] The loading attitude constraint benchmarks include the equipment placement location number, the correspondence between the equipment bottom surface and the placement area, and the correspondence between the installation position of the lifting lug and the projection of the equipment's center of gravity. The clamping and advancing sequence trajectory includes the segment numbering sequence of the segmented advancing of the clamping components, the position record corresponding to each segment, and the order identifier of the advancing and holding states. The clamping and holding interval identifier includes the holding time range of the clamping components within the allowable range, the interval overlap information of the synchronous holding of multiple clamping components, and the corresponding holding state number. The locking assembly matching mark includes the initial position number of the locking component, the locking entry path sequence identifier, and the correspondence between the locking position change and the clamping order. The lifting action activation command includes the clamping execution channel closed status identifier, the locking execution channel closed status identifier, and the lifting lug force path locking status identifier.

[0021] The load constraint module includes: Loading and positioning submodule: Based on the equipment placement location number, guide limit trigger status and lifting lug installation location number, it compares the placement location number with the placement area number item by item, and verifies the contact point between the guide limit trigger point and the outer edge of the equipment to generate a loading and positioning relationship record; Attitude verification submodule: Based on the loading positioning relationship record, verify the outline of the contact area of ​​the bottom surface of the equipment and the placement area side by side, check the distance between the outer edge of the equipment and the limit boundary, and compare the installation position of the lifting lug with the projection position of the center of gravity of the equipment point by point to generate the loading attitude constraint benchmark. Loading and positioning submodule: Based on the equipment placement location number, guide limit trigger status, and lifting lug installation location number, a number consistency matching method is used to compare the equipment placement location number with the placement area number item by item. The placement area is preset as a rectangular area in the installation drawings, with an area size of 1200 mm by 800 mm. The corresponding number is written into the configuration table in integer form. The number correspondence is verified and recorded. At the same time, the guide limit trigger status is read. The guide limit trigger point is arranged along the boundary of the placement area, and the trigger point coincides with the boundary of the placement area. The position of the outer edge contact point of the equipment is recorded. An assembly deviation of no more than 5 mm is allowed for the outer edge contact position. The number correspondence and contact position records are merged and organized to generate and store the loading and positioning relationship record. Attitude verification submodule: Based on the loading positioning relationship record, the contour of the contact area of ​​the equipment bottom surface and the contour of the placement area are read correspondingly using the contour edge-by-edge verification method. The bottom surface of the equipment is a rectangular structure with a bottom surface size of 1100 mm by 700 mm. The corresponding boundary length is compared with the boundary of the placement area. At the same time, the included angle of adjacent boundaries is checked, and the allowable deviation of the included angle is 1 degree. Then, the distance between the outer edge of the equipment and the limiting boundary is read. The height of the limiting boundary is 50 mm. The distance data is recorded. Finally, the installation position of the lifting lugs is verified. The lifting lugs are symmetrically arranged along the long side of the equipment with a spacing of 600 mm. The center of gravity projection point calculated from the position of the lifting lugs is compared with the geometric center position of the equipment. After completing all verification items, the data is written into the record, and the loading attitude constraint benchmark is generated and stored.

[0022] The clamping sequence module includes: The propulsion direction constraint submodule: Based on the loading attitude constraint benchmark, the initial orientation of the clamping component is checked item by item and the propulsion direction mark is selected. After verifying that the orientation is consistent with the loading attitude, it is written into the direction mark table to obtain the propulsion direction constraint information. Segmentation sequence recording submodule: Based on the propulsion direction constraint information, the clamping component is propulsed in segments according to the state switching sequence defined by the finite state machine. The segment number is recorded at the end of each segment and written into the sequence table. When the state completion trigger condition is met, the propulsion is switched to hold and the segment number is locked after recording the time. The segment completion sequence set is obtained. Sequence trajectory generation submodule: Based on the segment completion sequence set, sort the segment number, extract the corresponding position of the segment and splice the path list in order, check and lock the segment consistency and write it into the path table to generate the clamping and propulsion sequence trajectory; The propulsion direction constraint submodule: Based on the loading attitude constraint benchmark, the initial orientation of the clamping components is read item by item using orientation consistency judgment. The initial orientation of the clamping components is recorded in the form of angles, with the included angle range of 0 degrees to 360 degrees relative to the reference edge of the bottom surface of the equipment. The read angle is compared with the target orientation angle recorded in the loading attitude constraint benchmark. An installation deviation of no more than 2 degrees is allowed. For orientations that meet the consistency conditions, a propulsion direction mark is determined. The propulsion direction mark is written into the direction mark table in the form of positive and negative numbers. Each record in the direction mark table corresponds to a clamping component number and a propulsion direction number. After all clamping component orientations are checked, the information is written and stored to obtain the propulsion direction constraint information. The segmented sequence recording submodule: Based on the propulsion direction constraint information, a finite state machine sequential control method is used to manage the propulsion process of the clamping component in segments. The single propulsion stroke of the clamping component is divided into several propulsion segments of equal length, each with a stroke length of 20 mm. When each segment is completed, the current position of the clamping component is read, and the corresponding segment number is written into the sequence table in ascending order. The sequence table records the correspondence between the segment number and the clamping component number. After the propulsion segment completion signal is triggered, the propulsion state is switched to the holding state, and the time value corresponding to the segment is recorded. The duration of the holding state is recorded as a fixed time window. After the recording is completed, the segment number is locked to form a segment completion sequence set. The sequence trajectory generation submodule, based on the segmented completion sequence set, sorts the locked segment numbers in ascending order, sequentially reads the position coordinates of the clamping components corresponding to each segment, and records the position coordinates in millimeters in the position table. The positions of each segment are then sequentially spliced ​​according to the sorting result to form a continuous path list. Each node in the path list contains the segment number and the corresponding position coordinates. After the path is generated, the consistency of the segment numbers in the path list is checked. After confirming that there are no missing or duplicate records, the path list is written into the path table, generating and storing the clamping and propulsion sequence trajectory.

[0023] The system uses a finite state machine and load attitude constraint reference as the initial state determination input. In the initial state, only the propulsion direction limiting submodule is allowed to check the starting orientation of the clamping component and complete the propulsion direction mark writing. After the direction mark table is generated, the state transitions to the segmented propulsion state. The clamping component is propulsed segment by segment in sequence, and the segment number is written at the end of each segment and the time is recorded. After the segment is locked, the state is triggered to switch to the next segment propulsion and holding state until each segment is completed and the trajectory generation state is entered. In the trajectory generation state, the locked segment numbers are sorted and the corresponding position splicing path list is extracted. Finite state machines, according to the formula:

[0024] in: For a finite state machine, As a reference for loading attitude constraints With candidate state constraint template Consistency score, As the loading attitude constraint reference, This serves as a candidate state constraint template. For the consistency weighting coefficient of the load, The measured angle is used to indicate the initial orientation of the clamping component. The target orientation angle corresponding to the candidate state. This is the upper limit of the normalized orientation angle. This is the orientation deviation weighting coefficient. The confidence coefficient for segment order. The upper limit of the normalized confidence level for the order of ranking. This is the ranking credibility weighting coefficient. To maintain the phased reverse displacement trend index, This represents the normalized upper limit of the reverse displacement trend. The weighting coefficient is the reverse displacement trend coefficient. For trigger condition indicator functions, This is the condition for the state to be completed. For trigger condition weighting coefficients, The segment-locked hash consistency coefficient, This is the hash consistency weight coefficient. Number the current state. Number the next state. For segment numbering, This includes recording the end-of-segment position and the end-of-segment time. Write the result to advance the direction marker and use it as and Generate constraint inputs; Execution process: First, read the loading attitude constraint reference. And extract each candidate state from the candidate state constraint template table. corresponding And calculate Sim And multiplied by weight Generate a load consistency item and read the measured angle of the starting orientation output by the propulsion direction limiting submodule. And read the orientation of the candidate target And calculate And multiplied by weight An orientation deviation penalty term is generated by writing the segment number at the end of each segment in the segment sequence recording submodule. Record of the end position of the paragraph and end-of-segment time recording Input the order confidence calculator to get ,in The probability of increasing segment consistency and the proportion of segment end time intervals falling within the allowable window are jointly determined and used as the basis for determining the probability of increasing segment consistency and the proportion of segment end time intervals falling within the allowable window. Normalize and multiply by weight A sequence confidence term is generated, and the displacement sequence of the holding phase is read after the advance and hold phases are switched, and the reverse displacement trend index is calculated. ,in The value is determined by the cumulative reverse displacement within the continuous sampling window and the consistency rate of the reverse displacement direction. Normalize and multiply by weight A stability penalty term is formed, and the state is read to complete the trigger condition. and use indicator functions Generate trigger satisfaction terms and multiply them by weights. Furthermore, after the segment locking operation is completed, the segment locking hash consistency coefficient is calculated for the locked segment number sequence in the sequence table. ,in The ratio of the matching between the locked segment set and the segment set required for trajectory generation is determined and multiplied by a weight. Subsequently, for each candidate state The next state number is obtained by summing the above weighted terms and taking argmax. ,Will Transfer records and corresponding The state transition sequence values ​​are written to support the subsequent segmented advancement state switching and trajectory generation state segment sorting and splicing process. The weight coefficient confirmation steps include: collecting multiple batches of clamping advancement and hold logs, labeling the target correct state number of each state transition and forming a training sample set; calculating the state prediction results of each sample under different candidate weight vectors and statistically analyzing the transition error rate; and using constrained minimization of the error rate optimization to obtain... And apply nonnegativity constraints and normalize to make The obtained weights are used for online operation and are iteratively updated using error sample backfeed when segment jumps and early hold occur.

[0025] The clamping stabilization module includes: Position interval verification submodule: Based on the clamping and advancing sequence trajectory, extract the current position coordinates of the clamping components item by item, read the coordinates and perform sequential segment mapping, compare the current position with the allowable interval boundary point by point and mark the interval status, and generate a position interval status set; The displacement monitoring submodule maintains the position interval state set, divides the holding stage into a continuous state sequence and extracts the start and end times of each state. In each state, it records the reverse change of the clamping component position and forms the displacement change relationship between adjacent states. Based on Markov decision, it uses only the current state information to determine the next state recording direction and completes the state transition registration, thus obtaining the stable holding feature set. Synchronization State Determination Submodule: Based on the stable holding feature set, it keeps the time period numbers of the multi-point clamping components aligned and checks the corresponding position status item by item. After marking the overlapping range of the multi-point holding intervals, it confirms the merged status number and obtains the clamping holding interval identifier. Position Interval Verification Submodule: Based on the clamping and advancing sequence trajectory, the current position coordinates of the clamping component after each advancing segment are extracted item by item through position reading and sequential mapping. The position coordinates are recorded in the form of three-axis coordinates with the coordinate unit in millimeters, and a one-to-one mapping relationship is established with the corresponding segment number. At the same time, the system reads the preset allowable interval boundary information. The allowable interval is set along the advancing direction of the clamping component, and the interval length is 300 millimeters. Each position coordinate is compared with the start and end boundaries of the interval point by point. Positions within the interval are marked as valid, and positions outside the interval are marked as out of bounds. Finally, the segment number, position coordinates and interval status marks are uniformly organized and written to generate and store the position interval status set. The displacement monitoring submodule maintains the position interval state set and divides the time period after the clamping component enters the holding state into multiple continuous state sequences. Each state sequence corresponds to a holding cycle, and the duration of a single holding cycle is 10 seconds. Within each holding cycle, the position of the clamping component is periodically read at 1-second intervals. The direction and amount of position change are recorded sequentially, and the displacement change relationship between adjacent holding cycles is correlated and organized. Markov decision is introduced to use the displacement record and state number of the current holding cycle to determine the state record direction of the next holding cycle and complete the state transition sequence registration. Finally, the records of each state sequence are summarized to generate and store a stable holding feature set. Synchronization State Determination Submodule: Based on the stable holding feature set, the state sequence numbers corresponding to the multi-point clamping components during the holding phase are uniformly arranged by the time period number alignment method. The holding start time and end time of each clamping component are compared to confirm the correspondence of the same numbered states on the time axis. At the same time, the position state mark of each clamping component in the corresponding state is checked item by item. The overlapping range of time periods in the same interval state is marked. The overlapping range is recorded in the form of continuous time periods. Finally, the state numbers that meet the overlapping conditions are merged and the merged numbers are written into the result table to generate and store the clamping holding interval identifier.

[0026] Markov decision-making: The system uses the position interval state set generated by the position interval verification submodule as the initial state input, and discretizes the clamping and holding stage into a continuous state sequence. In each state, it only reads the reverse change record of the clamping component position corresponding to the current state and the state start and end time information. Based on the determined state transition direction, the current state and the selected next state are sequentially registered to form a state transition record. The state transition process continues to act on the holding displacement monitoring submodule until a stable holding feature set is formed. After that, the feature set is output to the synchronization state determination submodule. Markov decision-making, according to the formula:

[0027] in: To maintain the state set of the stage position interval, the first A status number is maintained. To maintain the stage state sequence index, For the first One candidate state transition direction For the state transition direction index, This is the candidate set for the next maintainable state. The candidate number for the next hold state. For the next hold state index, In order to maintain the state And adopt the direction of transfer Transition to candidate state State transition probability To maintain state In executing the transfer direction And transition to state The instantaneous stable return value at that time To maintain state Cumulative drift of the internal clamping component in the reverse direction. To maintain state The corresponding interval consistency index, To maintain state The corresponding risk index for ranking regression. Maintain state for the next candidate The state value function value, Weighting coefficients for immediate and stable returns The weighting coefficient for reverse displacement drift penalty. To maintain interval consistency, the reward weighting coefficient, Weighting coefficient for risk penalty of ranking fallback This is a discount factor for the value of future states. This is the state transition direction mapping function. The threshold for determining state transitions. To maintain state The final determined state transition direction decision value; Execution process: After the clamping component enters the holding phase, the system outputs the position interval state set of the holding phase from the position interval verification submodule and uses an index. Determine the current hold state The displacement monitoring submodule continuously collects data on the position changes of the clamping component within the specified state and accumulates the reverse displacement drift. Simultaneously, the consistency index of the maintenance interval is calculated by combining the position interval status markers and the maintenance duration. The sequential rollback risk index is calculated based on the registered state transition order and segment numbering relationship. The system then targets each candidate transfer direction. Next state of each candidate By calling the state transition probability model, we can obtain And combined with an instant stable return function and candidate state value function In the weighting coefficient With discount factor The overall utility calculation is completed under the action, and the calculation result is then input into the state transition direction mapping function. and the judgment threshold Comparisons are made to determine the hold-off state. The corresponding final state transition direction decision value The decision is then used to register and maintain the state transition records during the maintenance phase until a stable maintenance feature set is formed and output to the synchronization state determination submodule for hoisting and lifting permission determination.

[0028] The lock-to-consistency module includes: Initial path verification submodule: Based on the loading attitude constraint benchmark and clamping propulsion sequence trajectory, read the initial position number of the locking part, compare the initial position number with the position number, and verify the sequence of entry path nodes with the sequence of clamping segments to generate a locking path consistency feature set; Sequence change verification submodule: Based on the locking path consistency feature set, extract the locking action trigger time and compare the trigger time with the clamping sequence completion number. After recording the lock position number change, verify the position change with the segment number and establish a locking assembly matching mark. Initial Path Verification Submodule: Based on the loading attitude constraint benchmark and clamping propulsion sequence trajectory, the initial position number of the locking component is read. The initial position number is stored in integer form, ranging from 1 to 8, corresponding to the preset starting point of the locking component in the assembly area. At the same time, the target position number recorded in the loading attitude constraint benchmark is read. The initial position number and the target position number are compared item by item, and the correspondence is recorded. Then, the path node sequence of the locking component entering the assembly position is read. The path node consists of multiple consecutive nodes, each represented in number form. The node spacing is set to 50 mm along the locking movement direction. The path node number sequence is compared with the segment number sequence in the clamping propulsion sequence trajectory. Records with consistent path node sequence and segment sequence are retained, and records with inconsistent sequence are marked. Finally, the initial position number, target position number, path node sequence and corresponding segment number are uniformly organized and written into the module to generate and store the locking path consistency feature set. The sequence change verification submodule extracts the locking action trigger time based on the locking path consistency feature set. The trigger time is recorded in the time table in seconds. At the same time, it reads the completion time number of each segment in the clamping and advancing sequence trajectory. It compares the locking action trigger time with the clamping segment completion time item by item, and establishes a correspondence between the trigger records and segment numbers within the same time window. Then, it records the change process of the locking component position number. During the movement of the locking component, the position number changes sequentially according to the path node order. Each position number change is written into the change record table and correlated with the corresponding clamping segment number. After confirming that the position number change order is consistent with the segment number order, the corresponding records are summarized and organized, and finally formed and written into the result table. The locking assembly matching mark is established and stored.

[0029] The lifting permit module includes: Channel closure verification submodule: Based on the locking assembly matching mark, read the clamping execution channel status item and compare it with the channel opening and closing mark item by item. After reading the locking execution channel status item, compare it with the channel status number, register the combination of the two types of channel status, and establish a channel closure status set. Condition Consistency Verification Submodule: Based on the channel closure state set, read the lifting lug force path lock identifier and compare the force path number with the state item. After reading the lifting trigger condition items, perform a condition number consistency check and summary to obtain the lifting action activation command. Channel Closure Verification Submodule: Based on the locking assembly matching mark, the clamping execution channel status item and the locking execution channel status item are read and compared separately through channel status reading. The clamping execution channel and the locking execution channel are stored in the form of independent channel numbers, with the channel number range from 1 to 4. Each channel corresponds to an execution loop. The channel status is recorded by open and closed indicators. The status indicator is represented by a binary status bit. After reading the current status of each channel, the channel status indicator is compared with the preset closed status number. The channel that meets the closed status is recorded as a valid item. Then, the clamping execution channel status item and the locking execution channel status item are combined and registered. The combined registration is written into the status table in the form of channel number. Each record contains a set of clamping channel number and a set of locking channel number. After all registrations are completed, they are uniformly sorted and written to generate and store the channel closure status set. The condition consistency verification submodule reads the lifting lug force path lock identifier based on the channel closure state set, using a condition number consistency check method. The force path is stored in the form of path number, ranging from 1 to 6. Each path corresponds to a lifting lug force channel. The force path lock identifier is compared item by item with the channel number in the channel closure state set. Then, the lifting trigger condition entries are read. The lifting trigger conditions are written into the condition table in the form of condition number, which is a consecutive integer. The consistency of each condition number with the registration number in the channel closure state set is checked. Records with completely corresponding numbers are summarized and organized. Finally, the summary results are written into the instruction table to generate and store the lifting action activation instruction.

[0030] Please see Figure 1 A modular, quick-assembly electromechanical equipment hoisting control method includes the following steps: S1: Based on the equipment placement location number, guide limit trigger status and hoisting lug installation location number, perform consistency verification on the correspondence between the bottom surface of the equipment and the placement area, the distance between the outer edge of the equipment and the limit boundary, and the relationship between the hoisting lug and the center of gravity projection, and establish loading posture constraint benchmarks. S2: Based on the loading attitude constraint benchmark, the direction of the clamping component is limited, the clamping process is divided into multiple segments of the advancement sequence, the completion status of each segment is recorded in sequence and the advancement and holding are switched, the segment number is locked, and the clamping advancement sequence trajectory is generated. S3: Based on the clamping and advancing sequence trajectory, compare the current position of the clamping component with the allowable range, record the continuous time period of the holding state and associate the reverse displacement under the state change, and at the same time check the multi-point clamping synchronization relationship to obtain the clamping holding range identifier; S4: Based on the loading attitude constraint benchmark and clamping propulsion sequence trajectory, check the initial position and entry path sequence of the locking component, and check the position change and clamping sequence correspondence after the locking action is completed, and establish locking assembly matching mark; S5: Based on the locking assembly matching mark, check the closing status of the clamping execution channel and the locking execution channel, confirm the locking status of the lifting lug force path, and perform a consistency comparison of the lifting trigger conditions to obtain the lifting action activation command.

[0031] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A modular, quick-assembly electromechanical equipment hoisting control system, characterized in that, The system includes: Loading constraint module: By obtaining the equipment placement position number, guide limit trigger status and lifting lug installation position number, it verifies the correspondence between the bottom surface of the equipment and the placement area and checks the distance between the outer edge of the equipment and the limit boundary, confirms the correspondence between the lifting lug and the center of gravity projection, and generates loading attitude constraint benchmark. Clamping sequence module: Based on the loading attitude constraint reference, the clamping component's advancing direction is defined according to the sequence relationship defined by the finite state machine and the advancement is carried out in segments. After recording the completion order of each segment, the advancement and holding are switched, the completed segment number is locked, and the clamping advancement sequence trajectory is output. Clamping stabilization module: Based on the clamping and advancing sequence trajectory, compare the current position of the clamping component with the allowable range, record the continuous status of the holding period, and associate the reverse displacement changes of the current state and the subsequent state according to Markov decision, check the multi-point clamping synchronization status, and obtain the clamping holding range identifier; Locking consistency module: Based on the loading attitude constraint benchmark and the clamping and pushing sequence trajectory, it verifies the initial position of the locking component and checks the locking entry path sequence, compares the locking action with the clamping sequence and checks the changes in the locking position, and establishes a locking assembly matching mark. Lifting Permit Module: Based on the locking assembly matching mark, it checks the closing status of the clamping execution channel and the locking execution channel, confirms the locking status of the lifting lug force path and compares the consistency of the lifting triggering conditions, and obtains the lifting action activation command.

2. The modular quick-assembly electromechanical equipment hoisting control system according to claim 1, characterized in that, The loading attitude constraint reference includes the equipment placement position number, the correspondence between the equipment bottom surface and the placement area, and the correspondence between the installation position of the lifting lug and the projection of the equipment's center of gravity. The clamping and advancing sequence trajectory includes the segment numbering order of the segmented advancing of the clamping component, the position record corresponding to each segment, and the sequence identifier of the advancing and holding states. The clamping and holding interval identifier includes the holding time range of the clamping component within the allowable interval, the interval overlap information of the synchronous holding of multiple clamping components, and the corresponding holding state number. The locking assembly matching mark includes the initial position number of the locking component, the locking entry path sequence identifier, and the correspondence between the locking position change and the clamping sequence. The lifting action activation command includes the clamping execution channel closed state identifier, the locking execution channel closed state identifier, and the lifting lug force path locking state identifier.

3. The modular quick-assembly electromechanical equipment hoisting control system according to claim 1, characterized in that, The loading constraint module includes: Loading and positioning submodule: Based on the equipment placement location number, guide limit trigger status and lifting lug installation location number, it compares the placement location number with the placement area number item by item, and verifies the contact point between the guide limit trigger point and the outer edge of the equipment to generate a loading and positioning relationship record; Attitude verification submodule: Based on the loading positioning relationship record, verify the outline of the contact area of ​​the bottom surface of the equipment and the placement area side by side, check the distance between the outer edge of the equipment and the limit boundary, and compare the installation position of the hoisting ear with the projection position of the center of gravity of the equipment point by point to generate the loading attitude constraint benchmark.

4. The modular quick-assembly electromechanical equipment hoisting control system according to claim 1, characterized in that, The clamping sequence module includes: Propulsion direction constraint submodule: Based on the loading attitude constraint benchmark, the initial orientation of the clamping component is checked item by item and the propulsion direction mark is selected. After verifying that the orientation is consistent with the loading attitude, it is written into the direction mark table to obtain the propulsion direction constraint information. Segmentation sequence recording submodule: Based on the propulsion direction constraint information, the clamping component is propulsed in segments according to the state switching sequence defined by the finite state machine. The segment number is recorded at the end of the segment and written into the sequence table. When the state completion trigger condition is met, the propulsion is switched to hold and the segment number is locked after recording the time. The segment completion sequence set is obtained. Sequence trajectory generation submodule: Based on the segment completion sequence set, sort the segment numbers, extract the corresponding positions of the segments and splice the path list in order, check and lock the segments to ensure consistency, write the results into the path table, and generate the clamping and propulsion sequence trajectory.

5. The modular quick-assembly electromechanical equipment hoisting control system according to claim 1, characterized in that, The finite state machine uses the loading attitude constraint reference as the initial state determination input. In the initial state, only the propulsion direction limiting submodule is allowed to calibrate the starting orientation of the clamping component and complete the propulsion direction mark writing. After the direction mark table is generated, the state transitions to the segmented propulsion state. The clamping component is propulsed segment by segment in sequence, and the segment number is written at the end of each segment and the time is recorded. After the segment is locked, the state is triggered to switch to the next segment propulsion and holding state until each segment is completed and the trajectory generation state is entered. In the trajectory generation state, the locked segment numbers are sorted and the corresponding position splicing path list is extracted.

6. The modular quick-assembly electromechanical equipment hoisting control system according to claim 1, characterized in that, The clamping stabilization module includes: Position interval verification submodule: Based on the clamping and advancing sequence trajectory, extract the current position coordinates of the clamping component item by item, read the coordinates and perform sequential segment mapping, compare the current position with the allowable interval boundary point by point and mark the interval status to generate a position interval status set; The displacement monitoring submodule maintains the position interval state set, divides the holding stage into a continuous state sequence and extracts the start and end times of each state. In each state, it records the reverse change of the clamping component position and forms the displacement change relationship between adjacent states. Based on Markov decision, it uses only the current state information to determine the next state recording direction and completes the state transition registration, thus obtaining a stable holding feature set. Synchronization State Determination Submodule: Based on the stable holding feature set, the time period numbers of the multi-point clamping components are aligned and the corresponding position status is checked item by item. After marking the overlapping range of the multi-point holding intervals, the status is confirmed to merge the numbers, and the clamping holding interval identifier is obtained.

7. The modular quick-assembly electromechanical equipment hoisting control system according to claim 1, characterized in that, The Markov decision-making system uses the position interval state set generated by the position interval verification submodule as the initial state input. The clamping and holding stage is discretely divided into a continuous state sequence. In each state, only the reverse change record of the clamping component position and the start and end time information of the state corresponding to the current state are read. Based on the determined state transition direction, the current state and the selected next state are sequentially registered to form a state transition record. The state transition process continues to act on the holding displacement monitoring submodule until a stable holding feature set is formed. After the feature set is formed, it is output to the synchronization state determination submodule.

8. The modular quick-assembly electromechanical equipment hoisting control system according to claim 1, characterized in that, The locking consistency module includes: Initial path verification submodule: Based on the loading attitude constraint benchmark and the clamping and advancing sequence trajectory, read the initial position number of the locking part, compare the initial position number with the position number, and verify the sequence of entry path nodes with the sequence of clamping segments to generate a locking path consistency feature set; Sequence change verification submodule: Based on the locking path consistency feature set, extract the locking action trigger time and compare the trigger time with the clamping sequence completion number. After recording the lock position number change, verify the position change with the segment number and establish a locking assembly matching mark.

9. The modular quick-assembly electromechanical equipment hoisting control system according to claim 1, characterized in that, The lifting permit module includes: Channel closure verification submodule: Based on the locking assembly matching mark, read the clamping execution channel status item and compare it with the channel opening and closing identifier item by item. After reading the locking execution channel status item, compare it with the channel status number, register the combination of the two types of channel status, and establish a channel closure status set. Condition Consistency Verification Submodule: Based on the channel closure state set, read the lifting lug force path lock identifier and compare the force path number with the state item. After reading the lifting trigger condition entries, perform condition number consistency check and summary to obtain the lifting action activation command.

10. A method for controlling the hoisting of modular, quick-assembly electromechanical equipment, characterized in that, The modular quick-assembly electromechanical equipment hoisting control system according to any one of claims 1-9 includes the following steps: S1: Based on the equipment placement location number, guide limit trigger status and hoisting lug installation location number, perform consistency verification on the correspondence between the bottom surface of the equipment and the placement area, the distance between the outer edge of the equipment and the limit boundary, and the relationship between the hoisting lug and the center of gravity projection, and establish loading posture constraint benchmarks. S2: Based on the loading attitude constraint benchmark, the direction of the clamping component is limited, the clamping process is divided into multiple segments of the advancement sequence, the completion status of each segment is recorded in sequence and the advancement and holding are switched, the segment number is locked, and the clamping advancement sequence trajectory is generated. S3: Based on the clamping and advancing sequence trajectory, compare the current position of the clamping component with the allowable interval, record the continuous time period of the holding state and associate the reverse displacement under the state change, and at the same time check the multi-point clamping synchronization relationship to obtain the clamping holding interval identifier; S4: Based on the loading attitude constraint reference and the clamping and pushing sequence trajectory, check the initial position and entry path sequence of the locking component, and check the position change and clamping sequence correspondence after the locking action is completed, and establish a locking assembly matching mark. S5: Based on the locking assembly matching mark, check the closing status of the clamping execution channel and the locking execution channel, confirm the locking status of the lifting lug force path, and perform a consistency comparison of the lifting triggering conditions to obtain the lifting action activation command.

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