Intelligent hoisting and sliding control method for tubular truss canopy modular unit

Abstract

The present application relates to the field of control, in particular to a kind of intelligent hoisting and sliding control method of pipe truss gas building modular unit.The content includes: the coordinates of sliding track support point and module bottom support point are measured, and rigid transformation of module coordinate system to construction coordinate system is solved, to obtain the target pose of module;The position of measurement target in construction coordinate system and module coordinate system is spatially registered, combined with the target pose of module, to obtain pose error;Based on the pose error, the target position of lifting point is calculated, and the correction displacement vector of lifting point in space is obtained, and then the length adjustment amount of sling is calculated, and the length of sling is adjusted;When module falls to the starting point of sliding track, introduce the track sliding distance control algorithm based on velocity integral constraint, control module sliding.The problems that the target pose determination of module at the starting point of sliding track is not accurate, the lifting point adjustment and sling length adjustment amount are difficult to accurately control in hoisting process, and the sliding distance control is not accurate are solved.

Description

Technical Field

[0001] This invention relates to the field of control, and more particularly to an intelligent hoisting and sliding control method for modular tube truss louvers. Background Technology

[0002] In the construction of roof structures for large industrial plants, metallurgical plants, and energy facilities, tubular truss louvers, as important ventilation and exhaust structures, are typically constructed using steel tubular truss structures, characterized by large spans, large overall dimensions, and significant self-weight. To improve construction efficiency and reduce the risks of working at heights, modular manufacturing and overall hoisting methods have been increasingly adopted in engineering practice. This involves prefabricating and assembling modular tubular truss louver units on the ground, then using large hoisting equipment to hoist the modules as a whole to the roof structure, and finally moving the modules to their designed installation positions using sliding devices. This construction method significantly improves structural installation efficiency and reduces on-site welding and assembly workload, and has become an important technical means in the installation and construction of large steel structures.

[0003] However, due to the large size, heavy weight, and complex spatial structure of tubular truss gas louver modules, high requirements are placed on spatial attitude control and positional accuracy during hoisting and sliding construction. Traditional construction methods rely heavily on experience-based judgment and manual measurement for sling adjustments. This approach is not only inefficient but also makes it difficult to achieve precise control over the module's spatial attitude, easily leading to problems such as module tilting, positional deviation, or inaccurate alignment of support points with the track. These issues affect the module's placement accuracy and the safety of subsequent sliding operations.

[0004] Meanwhile, after the module is positioned at the starting point of the sliding track, a winch traction system is typically used to slide the module along the track to its final installation position. However, in existing sliding construction processes, controlling the module's sliding distance relies heavily on manual observation of rulers, simple displacement measurements, or experience-based estimations to determine the stopping position. This makes continuous monitoring and precise control of the sliding process difficult, easily leading to sliding distance deviations. Consequently, the module may not accurately reach its designed installation position, sometimes requiring readjustment or rework, impacting construction efficiency and safety.

[0005] In summary, traditional hoisting and sliding operations typically rely on manual experience for position judgment and sling length adjustment, lacking automated control and precise calculation methods based on measurement data. This results in insufficient attitude control precision during hoisting, difficulty in accurately adjusting the spatial position of modules, and a low level of automation and intelligence in the overall construction process. Furthermore, the hoisting and sliding installation phases are usually independent, lacking unified control logic and continuous state calculation mechanisms. This makes it difficult to guarantee the connection precision between module hoisting and track sliding, easily leading to cumulative errors and affecting the final installation position accuracy of the modules. In addition, in complex construction site environments, the large size, high structural flexibility, and numerous lifting points of modules, coupled with the lack of effective spatial posture calculation and error feedback mechanisms, can easily lead to problems such as module attitude deviation, uneven stress on lifting points, and installation positioning deviations, thus affecting construction safety and installation quality. Summary of the Invention

[0006] This invention provides an intelligent hoisting and sliding control method for modular truss louvers. This addresses the challenges in the early stages of module hoisting, where a lack of systematic calculation methods for the spatial correspondence between track support points and module support points, and the difficulty in accurately determining the spatial transformation between the module coordinate system and the construction coordinate system, leads to inaccurate target pose determination of the module at the sliding track starting point, potentially resulting in module placement deviations or mismatches with the track support structure. Furthermore, during hoisting, the lack of a method for calculating the module's current pose based on real-time measurement data makes it difficult to promptly acquire the module's true attitude changes in space, resulting in an inability to accurately assess the module's current pose. The deviation between the current pose and the target pose makes it difficult to achieve precise control over the lifting point adjustment. In traditional lifting operations, the adjustment of sling length usually relies on experience or simple measurement, lacking a computer mechanism to convert the overall pose error of the module into the spatial correction amount of each lifting point, and further into the sling length adjustment amount. When the module enters the track sliding installation stage after it is placed, it relies heavily on manual observation or simple displacement measurement, lacking a control method for continuous monitoring and cumulative calculation of speed and displacement during the sliding process. This makes it difficult to achieve precise control over the sliding distance, which can easily lead to deviation in the module's stopping position and affect the final installation accuracy.

[0007] The present invention provides an intelligent hoisting and sliding control method for a modular unit of a tubular truss ventilator, comprising the following steps: S1. Measure the coordinates of the sliding track support point in the construction coordinate system and the coordinates of the module bottom support point in the module coordinate system, and solve the rigid body transformation between the module coordinate system and the construction coordinate system to obtain the target pose of the module. S2. Spatial registration is performed on the position of the measurement target in the construction coordinate system and the module coordinate system. Combined with the target pose of the module, the pose error is obtained. Based on the pose error, the spatial coordinates of the lifting point under the target pose are calculated, and the corrected displacement vector of the lifting point in space is obtained. Based on the corrected displacement vector of the lifting point in space, the length of the sling is adjusted. S3. After the module lands at the starting point of the sliding track, a track sliding distance control algorithm based on velocity integral constraints is introduced to control the module's sliding.

[0008] Preferably, S1 specifically includes: The set of bottom support points of the construction module and the set of support points of the sliding track are constructed, and the optimal rotation matrix is ​​obtained by using the least squares optimization method.

[0009] Preferably, S1 specifically includes: The geometric center of the bottom support point set of the module is spatially rotated using the optimal rotation matrix, and its position is matched with the geometric center of the sliding track support point set to obtain the translation vector.

[0010] Preferably, S1 specifically includes: The target pose of the module is generated by combining the optimal rotation matrix and translation vector.

[0011] Preferably, S2 specifically includes: Based on the position of the measurement target in the construction coordinate system and the module coordinate system, the least squares optimization method is used to obtain the optimal rigid body transformation of the measurement target; based on the optimal rigid body transformation of the measurement target, the current spatial pose of the module is obtained; the current spatial pose of the module is compared with the target pose of the module to obtain the pose error.

[0012] Preferably, S2 specifically includes: Based on the current spatial pose of the module, the position of the lifting point is mapped to the construction coordinate system to obtain the spatial coordinates of the lifting point under the current spatial pose; based on the spatial coordinates of the lifting point under the current spatial pose, combined with the pose error, the spatial coordinates of the lifting point under the target pose are obtained, and the corrected displacement vector of the lifting point in space is calculated.

[0013] Preferably, S2 specifically includes: The spatial orientation of the sling is determined and normalized to obtain a unit vector of the sling orientation. Based on the unit vector of the sling orientation and the corrected displacement vector of the suspension point in space, the adjustment amount of the sling length is calculated and the sling length is adjusted.

[0014] Preferably, S3 specifically includes: In the implementation of the track sliding distance control algorithm based on speed integral constraints, the actual sliding distance is obtained by continuously monitoring and accumulating the motion speed of the module during the sliding process; the actual sliding distance is compared with the preset design sliding distance to control the start and stop of the winch.

[0015] The beneficial effects of the technical solution of the present invention are: 1. By obtaining the spatial coordinates of the support points of the sliding track and the bottom support points of the module, and using the least squares optimization method to solve the rigid body transformation relationship between the module coordinate system and the construction coordinate system, the precise registration between the module design model and the on-site construction coordinates is achieved. This enables the accurate determination of the target pose of the module at the starting point of the sliding track, thereby improving the positioning accuracy of the module.

[0016] 2. By spatially registering the position of the measurement target in the construction coordinate system and the module coordinate system, the current spatial pose of the module is calculated. The current spatial pose of the module is compared with the target pose to obtain the pose error. Then, based on the pose error, the target position and the corrected displacement vector of each lifting point are derived. The corrected displacement vector is projected onto the sling direction to obtain the sling length adjustment amount. This enables precise and coordinated adjustment of the sling length of multiple lifting points, improves the accuracy and stability of lifting posture control, and reduces manual experience-based adjustments.

[0017] 3. After the module falls to the starting point of the sliding track, the sliding speed of the module is monitored and accumulated in real time through a track sliding distance control algorithm based on speed integral constraints to obtain the actual sliding distance. The actual sliding distance is compared with the designed sliding distance, and the start and stop of the winch are controlled to achieve precise distance control of the module sliding process. This ensures that the module can move stably and accurately to the designed installation position, improving the automation and control accuracy of the sliding installation. Attached Figure Description

[0018] Figure 1 This is a flowchart of an intelligent hoisting and sliding control method for a modular unit of a tubular truss gas ventilator according to the present invention. Detailed Implementation

[0019] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0021] The following description, in conjunction with the accompanying drawings, details the specific scheme of the intelligent hoisting and sliding control method for a modular unit of a tubular truss louver provided by the present invention.

[0022] See attached document Figure 1 The diagram illustrates a flowchart of an intelligent hoisting and sliding control method for a modular tube truss gas ventilator provided by an embodiment of the present invention. The method includes the following steps: S1. Measure the coordinates of the sliding track support point in the construction coordinate system and the coordinates of the module bottom support point in the module coordinate system, and solve the rigid body transformation between the module coordinate system and the construction coordinate system to obtain the target pose of the module. At any moment Spatial measurements of each support point at the starting point of the sliding track are performed using a total station or 3D laser scanning equipment to obtain the coordinates of the support points of the sliding track in the construction coordinate system. , For at any time Sliding track number The spatial coordinates of each support point, where... , For planar coordinate components, For elevation components, This represents the number of support points for the sliding track. The spatial position of the bottom support points in the module's coordinate system is directly obtained from the module's 3D structural design model. The position of the bottom support points in the module's coordinate system is... , It is the identifier of the module coordinate system.

[0023] By utilizing the spatial correspondence between the bottom support points of the module and the support points of the sliding track, the rigid body transformation between the module coordinate system and the construction coordinate system is solved using the least squares optimization method, thereby determining the target pose that the module should achieve at the starting point of the sliding track. The specific implementation process is as follows: First, the optimal rotation matrix is ​​solved using least squares optimization: in, Represents the optimal rotation matrix; This indicates the search for the objective function. The minimum rotation matrix; Indicates the number of support points on the sliding track; Represents the Euclidean norm; This represents the centered support point of the sliding track, used to eliminate the effects of translation. , Indicates the geometric center of the sliding track support point. ; This represents the bottom support point of the centered module, used for rotational solutions. , Indicates the geometric center of the bottom support point of the module. ; To solve the rigid body transformation between the module coordinate system and the construction coordinate system, it is necessary to calculate the geometric center positions of two sets of points: the bottom support points of the module and the support points of the sliding track. The geometric center reflects the overall spatial position of the point set. By calculating the average position of the point set, the geometric center positions of the sliding track support point set and the bottom support point set of the module can be obtained. Subsequently, by centering the two sets of points, the coordinates of each support point are converted into position vectors relative to their respective geometric centers. This eliminates the influence of overall translation on the rotation solution process, thus decomposing the problem into two independent processes: rotation solution and translation solution. After completing the point set centering process, the spatial correlation between the module bottom support point set and the sliding track support point set is described by constructing the covariance matrix between the point sets. The covariance matrix reflects the correspondence between the directional distribution of the module bottom support points and the directional distribution of the sliding track support points, and can describe the degree of coupling between the two point sets in the spatial direction. The covariance matrix is ​​expressed as: in, express Covariance matrix; Indicates transpose; Subsequently, singular value decomposition (SVD) is performed on the covariance matrix. SVD is a stable and reliable matrix decomposition method that extracts the optimal rotation relationship between two point sets by decomposing the covariance matrix into two orthogonal matrices and a diagonal matrix. The two orthogonal matrices represent the principal coordinate systems of the two point sets, while the diagonal matrix reflects the correlation strength between the two point sets in each principal direction. A matrix combination operation is performed on the left and right singular vector matrices obtained from singular value decomposition. Specifically, the right singular vector matrix is ​​multiplied by the transpose of the left singular vector matrix to obtain a candidate rotation matrix. The determinant of the candidate rotation matrix is ​​then evaluated. If the rigid body rotation matrix constraint is not met, the singular value decomposition result is corrected by sign and then combined again to obtain the optimal rotation matrix of the module coordinate system relative to the construction coordinate system. After obtaining the optimal rotation matrix, the translation vector of the module in the construction coordinate system is further calculated. The translation vector is determined by the spatial relationship between the geometric center of the set of support points of the sliding track and the geometric center of the set of support points at the bottom of the module. Specifically, the geometric center of the set of support points at the bottom of the module is spatially rotated according to the obtained optimal rotation matrix to make the spatial direction consistent with the spatial distribution direction of the set of support points at the bottom of the track. Then, the position is matched with the geometric center of the set of support points of the sliding track to calculate the overall translation vector of the module. The translation vector is represented as: in, Represents the translation vector; Finally, the optimal rotation matrix and translation vector are combined to generate the target pose of the module. This is used to transform any point in the module coordinate system to its corresponding position in the construction coordinate system.

[0024] S2. Spatial registration is performed on the position of the measurement target in the construction coordinate system and the module coordinate system. Combined with the target pose of the module, the pose error is obtained. Based on the pose error, the spatial coordinates of the lifting point under the target pose are calculated, and the corrected displacement vector of the lifting point in space is obtained. Based on the corrected displacement vector of the lifting point in space, the length of the sling is adjusted. During actual hoisting, the spatial position of the module changes continuously with the hoisting operation. To obtain the module's current pose in real time, at least three measuring targets are arranged on the module structure. Using a total station or laser measuring equipment, the spatial position of the measuring targets in the construction coordinate system can be obtained in real time. The least squares optimization method is also used to determine the optimal rigid body transformation. Spatial registration is performed between the positions of the measuring targets in the construction coordinate system and the module coordinate system, ensuring that the position of the measuring targets in the module coordinate system, after rotation and translation, is as consistent as possible with the position of the measuring targets in the construction coordinate system. The current spatial pose of the module is then calculated. The formula for the optimal rigid body transformation of the measuring targets is expressed as follows: in, Indicates the module at time rotation matrix; Indicates the module at time The translation vector; This represents the search for a set of rotation matrices and translation vectors (i.e., optimal rigid body transformations) such that the sum of squared errors in the above formula... Minimum; Indicates the target index for measurement; Indicates the number of targets measured; Indicates the first A spatial position error vector of a measurement target; Indicates the first The spatial position of a measurement target in the construction coordinate system; Indicates the first The position of each measurement target in the module coordinate system; Module current spatial pose for: Furthermore, it is necessary to compare the current spatial pose of the module with the target pose to determine the spatial deviation between the current spatial pose of the module and the target pose that the module should reach at the starting point of the sliding track, i.e., the pose error. The calculation of pose error is essentially solving a spatial rigid body transformation, which can transform the current spatial pose of the module to the target pose, including rotation correction components and translation correction components. The rotation correction component reflects the deviation of the module structure in the spatial direction, such as the module may have tilt or torsion around a certain spatial axis. The translation correction component reflects the positional offset of the module as a whole in space, such as the module as a whole deviating from the center line of the track or having an error in height. The formula for pose error is: in, Indicates at time The pose error, , For rotation correction components, For translation correction components; Indicates the current spatial pose of the module The inverse matrix; The module is connected to the crane hook via multiple lifting points. The position of each lifting point in the module's coordinate system is already determined in the module's 3D structural design model. By using the module's current spatial pose, the positions of the lifting points can be mapped to the construction coordinate system, thereby obtaining the spatial coordinates of each lifting point in its current spatial pose. , Indicates the first The position of each lifting point in the module coordinate system.

[0025] Based on the pose error, the spatial coordinates of each suspension point of the module under the target pose are obtained, i.e., the target position of the suspension point. : The difference between the target position and the current position of the lifting point is the corrected displacement vector of the lifting point in space. The corrected displacement vector is a three-dimensional spatial vector, whose direction indicates the spatial direction in which the lifting point needs to move, and whose magnitude indicates the distance the lifting point needs to move. The formula is as follows: in, Indicates at time No. The corrected displacement vector of each suspension point in space; In actual lifting operations, the lifting point and the crane hook are connected by a flexible sling. The sling can only extend or shorten along its own direction; therefore, sling length adjustment must be performed along the sling direction. To calculate the sling length adjustment, the spatial direction of the sling must first be determined. The sling direction can be determined by the spatial line connecting the hook position and the lifting point position, and after normalization, a unit vector of the sling direction is obtained. Subsequently, the corrected displacement vector of the lifting point in space is projected onto the sling direction. The projected amount represents the distance the lifting point needs to move along the sling direction, which is the sling length adjustment. If the projected amount is positive, it means the sling needs to be lengthened to move the lifting point downwards or away from the hook; if the projected amount is negative, it means the sling needs to be tightened to move the lifting point towards the hook. The formula for adjusting the sling length is expressed as follows: in, Indicates at time No. The distance that each lifting point needs to move along the direction of the sling is the sling length adjustment amount. Indicates the first Unit vector of sling direction at each suspension point , Indicates the first The position of the crane hook corresponding to each lifting point; As the length of the sling is continuously adjusted, the current spatial pose of the module will gradually approach the target pose. When the pose error is reduced to 0, the module can be stably placed at the starting point of the sliding track.

[0026] S3. After the module lands at the starting point of the sliding track, a track sliding distance control algorithm based on velocity integral constraints is introduced to control the module's sliding.

[0027] Once the module reaches the starting point of the sliding track, it is moved along the track direction by a winch traction system to the designed installation position. To ensure that the module completes the sliding process stably, controllably, and precisely, a track sliding distance control algorithm based on speed integral constraints is adopted. By continuously monitoring and accumulating the module's speed during the sliding process, the actual sliding distance is obtained. The actual sliding distance is compared with the designed sliding distance to control the start and stop of the winch, thereby ensuring that the module ultimately stops at the target installation position.

[0028] In the specific implementation process, the total sliding distance required for the module to move from the starting point of the sliding track to the designed installation position is determined according to the construction design, that is, the design sliding distance. The winch traction system applies a traction force along the sliding track to the module, so that the roller device at the bottom of the module generates rolling motion on the sliding track, thereby realizing the smooth movement of the module. During the sliding control process, it is necessary to acquire the module's speed along the sliding track in real time. This speed can be measured using devices such as winch speed sensors or track displacement sensors. Since sliding motion is a continuously changing process, the module's speed may vary at different times, such as gradually increasing during startup and gradually decreasing as it approaches the designed installation position. Therefore, it is necessary to accumulate and calculate the speed using continuous time integration to obtain the actual distance the module moves throughout the entire sliding process, i.e., the actual sliding distance.

[0029] When the actual sliding distance is equal to the designed sliding distance, it indicates that the module has reached the designed installation position, the winch traction system stops traction, and the module sliding installation process is completed.

[0030] In summary, an intelligent hoisting and sliding control method for modular tube truss gas louvers has been developed.

[0031] The order of the embodiments is for illustrative purposes only and does not represent the superiority or inferiority of the embodiments. The processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0032] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for intelligent hoisting and sliding control of modular units of tubular truss louvers, characterized in that, Includes the following steps: S1. Measure the coordinates of the sliding track support point in the construction coordinate system and the coordinates of the module bottom support point in the module coordinate system, and solve the rigid body transformation between the module coordinate system and the construction coordinate system to obtain the target pose of the module. S2. Based on the position of the measurement target in the construction coordinate system and the module coordinate system, the least squares optimization method is used to spatially register the position of the measurement target in the construction coordinate system and the module coordinate system to obtain the optimal rigid body transformation of the measurement target; based on the optimal rigid body transformation of the measurement target, the current spatial pose of the module is obtained. The module's current spatial pose is compared with its target spatial pose to obtain the pose error. Based on the module's current spatial pose, the position of the lifting point is mapped to the construction coordinate system to obtain the spatial coordinates of the lifting point in the current spatial pose. Based on the spatial coordinates of the lifting point in the current spatial pose, combined with the pose error, the spatial coordinates of the lifting point in the target spatial pose are calculated, and the corrected displacement vector of the lifting point in space is obtained. The spatial direction of the sling is determined and normalized to obtain the sling direction unit vector. Based on the sling direction unit vector, combined with the corrected displacement vector of the lifting point in space, the sling length adjustment is calculated, and the sling length is adjusted accordingly. S3. After the module lands at the starting point of the sliding track, a track sliding distance control algorithm based on velocity integral constraints is introduced to control the module's sliding.

2. The intelligent hoisting and sliding control method for a modular unit of a tubular truss louver according to claim 1, characterized in that, S1 specifically includes: The set of bottom support points of the construction module and the set of support points of the sliding track are constructed, and the optimal rotation matrix is ​​obtained by using the least squares optimization method.

3. The intelligent hoisting and sliding control method for a modular unit of a tubular truss louver according to claim 2, characterized in that, S1 specifically includes: The geometric center of the bottom support point set of the module is spatially rotated using the optimal rotation matrix, and its position is matched with the geometric center of the sliding track support point set to obtain the translation vector.

4. The intelligent hoisting and sliding control method for a modular unit of a tubular truss louver according to claim 3, characterized in that, S1 specifically includes: The target pose of the module is generated by combining the optimal rotation matrix and translation vector.

5. The intelligent hoisting and sliding control method for a modular unit of a tubular truss louver according to claim 1, characterized in that, S3 specifically includes: In the implementation of the track sliding distance control algorithm based on speed integral constraints, the actual sliding distance is obtained by continuously monitoring and accumulating the motion speed of the module during the sliding process; the actual sliding distance is compared with the preset design sliding distance to control the start and stop of the winch.

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