A method, system, device and medium for hoisting a hydroelectric generating unit during maintenance

Abstract

The application provides a hydropower unit maintenance integrated hoisting method, system, equipment and medium, and belongs to the technical field of hydropower unit maintenance, the method comprises the following steps: obtaining the size and three-dimensional space coordinates of the hoisting target object; based on the size and three-dimensional space coordinates of the hoisting target object, and the load limit of the hoisting equipment, the space obstacles of the operation area and the safety distance constraint conditions determined in advance, an improved A* algorithm is used to generate multiple hoisting operation paths; in response to the path confirmation instruction, the actual operation path is obtained, and the hoisting equipment is driven to operate based on the actual operation path; the improved A* algorithm is used in combination with the working conditions of the hydropower unit maintenance site, multiple conditions such as the load limit of the hoisting equipment, the space obstacles of the operation area and the safety distance constraint are comprehensively integrated, the safety cost, obstacle penalty and load cost calculation are added on the basis of the traditional path planning, and multiple hoisting paths meeting different operation requirements can be generated.

Description

Technical Field

[0001] This invention belongs to the field of hydropower station unit maintenance technology, and specifically relates to an integrated hoisting method, system, equipment and medium for hydropower station unit maintenance. Background Technology

[0002] Hydropower station generator unit maintenance and hoisting equipment can be categorized by function into bridge cranes, mobile gate hoists, etc. Bridge cranes are primarily responsible for hoisting the rotors of hydroelectric generators, while mobile gate hoists are mainly used for hoisting gates involved in generator unit maintenance. The function of hydropower station generator unit maintenance and hoisting equipment is to use specialized lifting tools to lift and lower the target object to a designated location through the coordination of various mechanisms. Currently, hydropower station generator unit maintenance and hoisting equipment is equipped with highly automated control systems, basically including PLC control systems, data acquisition systems, anti-sway control systems, equipment positioning systems, equipment gap detection systems, and video monitoring systems. However, the following problems still exist in the actual hoisting process: In the existing hydropower station unit maintenance and hoisting path planning, the traditional A* algorithm only considers the shortest path in a two-dimensional plane without actually taking into account the on-site conditions. This results in a single path with insufficient safety (such as being close to obstacles or exceeding the equipment load) or low efficiency (such as excessively long detours). It cannot meet the safety and efficiency requirements for hoisting non-standard objects in complex maintenance scenarios, and still requires manual intervention to adjust the path, which restricts the level of intelligence in hoisting operations. Summary of the Invention

[0003] To address the problems in the background art, this invention proposes an integrated hoisting method, system, equipment, and medium for the maintenance of hydropower station units.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention proposes an integrated hoisting method for the maintenance of hydropower station units, comprising: Obtain the dimensions and three-dimensional spatial coordinates of the target object to be hoisted; Based on the size and three-dimensional spatial coordinates of the target object to be hoisted, as well as the pre-determined load limits of the hoisting equipment, spatial obstacles in the work area, and safety distance constraints, an improved A* algorithm is used to generate multiple hoisting operation paths. In response to a path confirmation command, the actual operation path is obtained, and the hoisting equipment is driven to operate based on the actual operation path; wherein, the actual operation path is one of multiple hoisting operation paths; Acquire offset and positioning data of the hoisting equipment, and determine the operational compensation amount based on the predetermined target position; Based on the aforementioned operational compensation, the hoisting equipment is driven to correct operational errors until it reaches the target position and completes the hoisting.

[0005] Preferably, the expression for the improved A* algorithm is:

[0006] In the formula, Let be the total cost function. For path cost function, For heuristic functions, For the safety cost function, Let the obstacle penalty function be... Let the load cost function be... For the weights of the safety function, For the weights of the barrier function, Weights for the load function; The safety cost function is determined based on the spatial obstacles and safety distance constraints of the work area, the obstacle penalty function is determined based on the spatial obstacles of the work area, and the load cost function is determined based on the load limit of the hoisting equipment, the three-dimensional spatial coordinates of the hoisting target object, and the size of the hoisting target object.

[0007] Preferably, an improved A* algorithm is used to generate multiple hoisting operation paths, specifically including: Using the three-dimensional spatial coordinates as the starting point and the predetermined target position as the target point, a work space model for hoisting operations is constructed. Based on the improved A* algorithm, a path search process is performed within the job space model; Repeat the path search process and adjust the values ​​of the safety function weight, obstacle function weight, and load function weight until multiple hoisting operation paths are generated.

[0008] Preferably, the path search process specifically includes: In the workspace model, nodes are selected as objects to be evaluated. The improved A* algorithm is used to calculate the path cost function and heuristic function from the starting point to the object to be evaluated. The total cost value of the object to be evaluated is calculated by combining the safety cost function, obstacle penalty function, and load cost function. The path to be evaluated is extended by selecting the object with the highest value from the general agent until a hoisting operation path connecting the starting point and the target point is found.

[0009] Preferably, the actual operation path is determined from the multiple hoisting operation paths based on predetermined operation requirements.

[0010] Preferably, the operational requirements include time requirements and safety requirements; the hoisting operation path includes a time-priority path and a safety-priority path; When the time-priority path is generated, the weights of the safety function, obstacle function, and load function are all 0.5. When the safety priority path is generated, the safety function weight is 5, the obstacle function weight is 3, and the load function weight is 1.

[0011] Preferably, the expression for determining the operating compensation amount is:

[0012]

[0013] In the formula, For the target location Axis coordinate data, For the target location Axis coordinate data; For hoisting equipment Axis positioning data, For hoisting equipment Axis positioning data; For hoisting equipment Axis offset data, For hoisting equipment Axis offset data.

[0014] Secondly, this invention proposes an integrated hoisting system for the maintenance of hydropower station units, comprising: The data acquisition module is used to acquire the dimensions and three-dimensional spatial coordinates of the target object being hoisted. The hoisting operation path generation module is used to generate multiple hoisting operation paths based on the size and three-dimensional spatial coordinates of the hoisting target object, as well as the pre-determined load limits of the hoisting equipment, spatial obstacles in the operation area, and safety distance constraints, using an improved A* algorithm. An execution module is used to respond to a path confirmation command, obtain the actual operation path, and drive the hoisting equipment to operate based on the actual operation path; wherein, the actual operation path is one of multiple hoisting operation paths; The operation compensation calculation module is used to acquire the offset and positioning data of the hoisting equipment, and determine the operation compensation amount based on the predetermined target position; The operation module is used to drive the hoisting equipment to correct the operation error based on the operation compensation amount until the hoisting equipment reaches the target position and completes the hoisting.

[0015] Thirdly, the present invention proposes a device including a memory and a processor, wherein the memory stores computer instructions that can be executed on the processor, and the processor executes the integrated hoisting method for maintenance of hydropower station units as described in the first aspect when executing the computer instructions.

[0016] Fourthly, the present invention proposes a computer-readable storage medium storing computer instructions, which, when executed, can realize the integrated hoisting method for maintenance of hydropower station units as described in the first aspect.

[0017] The beneficial effects of this invention are: The method of this invention employs an improved A* algorithm that fully integrates the actual working conditions of hydropower station unit maintenance sites. It comprehensively incorporates multiple conditions such as load limitations of hoisting equipment, spatial obstacles in the work area, and safety distance constraints. Based on traditional path planning, it adds calculations of safety costs, obstacle penalties, and load costs, enabling the intelligent generation of multiple hoisting paths that meet different operational needs. This effectively solves the problem that traditional hoisting methods can only plan a single shortest path and cannot simultaneously consider safety and load limitations. It achieves scientific, safe, and efficient planning of hoisting paths, improves the adaptability and reliability of hoisting operations, avoids safety risks such as collisions and overloading during hoisting, and significantly improves the accuracy and efficiency of hoisting operations for hydropower station unit maintenance.

[0018] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of an integrated hoisting method for overhauling hydropower station units according to the present invention is shown; Figure 2 A schematic diagram of the hoisting equipment structure of the present invention is shown; In the picture: 1. Absolute position positioning tag; 2. Mobile intelligent AI scanning device; 3. Lifting equipment. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, 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.

[0022] This invention provides an intelligent integrated hoisting method for hydropower station unit maintenance, applicable to the hoisting of heavy components in hydropower station unit maintenance scenarios. Before implementing this method, a corresponding intelligent hoisting system needs to be constructed. The intelligent hoisting system mainly includes a mobile intelligent AI scanning device, the hoisting equipment itself, and a high-precision error measurement device. Specifically: Reference Figure 2 As shown, the mobile intelligent AI scanning device is installed on a dedicated track below the hoisting equipment. This device can move independently along the track's direction of travel, autonomously adjusting its scanning position without relying on the main hoisting equipment, significantly improving operational flexibility. In one specific embodiment, the mobile intelligent AI scanning device is equipped with two high-resolution visual acquisition modules for multi-dimensional scanning of the hoisted target object. Simultaneously, the mobile intelligent AI scanning device integrates a high-precision absolute position measurement sensor, which, in conjunction with absolute position positioning tags pre-fixed at key points in the hoisting area, enables accurate calculation of the target object's spatial coordinates. The absolute position positioning tags are pre-fixed at key points in the hoisting area (such as factory columns or ground reference points) to provide global spatial reference coordinates for the high-precision absolute position measurement sensor, eliminating accumulated errors.

[0023] The hoisting equipment includes a trolley traveling mechanism and a trolley traveling mechanism.

[0024] The trolley traveling mechanism is used to drive the hoisting equipment to move in the longitudinal direction (Y-axis direction) of the factory building; The trolley traveling mechanism is used to drive the lifting device to move along the span direction (X-axis direction) of the factory building.

[0025] The high-precision error measurement device includes a first high-precision error measurement device and a second high-precision error measurement device.

[0026] The first high-precision error measurement device is installed on the trolley traveling mechanism in a direction perpendicular to the travel direction, and is used to obtain the physical offset data of the trolley in the Y-axis direction; The second high-precision error measurement device is installed on the trolley running mechanism in a direction perpendicular to the running direction, and is used to obtain the physical offset data of the trolley in the X-axis direction.

[0027] Based on the aforementioned intelligent hoisting system, referring to Figure 1As shown, the intelligent integrated hoisting method for hydropower station unit maintenance of the present invention specifically includes the following steps: To rationally plan a hoisting route that suits the on-site working conditions, it is first necessary to clarify the regular parameters of the object to be hoisted and its location on site. Therefore, step S10 is: to obtain the size and three-dimensional spatial coordinates of the target object to be hoisted. Specifically, the mobile intelligent AI scanning device scans within its operating range. After detecting the target object, two high-resolution vision acquisition modules work together to perform multi-dimensional scanning (capturing surface features and contour details from different angles) to obtain the dimensions of the target object. Simultaneously, a high-precision absolute position measurement sensor complements the absolute position positioning tags pre-fixed at key points in the hoisting area. By scanning the absolute position positioning tags and combining this with real-time data collected by its own sensors, the mobile intelligent AI scanning device can calculate the specific coordinates of the target object in three-dimensional space.

[0028] The dimensions of the target object to be hoisted specifically include: length, width, height, volume, and mass.

[0029] Furthermore, the dimensions of the target object to be hoisted can also be determined through a pre-entered database. In one specific embodiment, in response to the object number or type input by the operator, the corresponding length, width, height, and mass parameters are directly retrieved from pre-stored historical maintenance records or design drawing data, without the need to perform scanning and identification each time.

[0030] By determining the size and three-dimensional spatial coordinates of the target object, it breaks through the limitation of traditional hoisting equipment that can only handle objects of known shape and size. Even when facing non-standard or irregular objects, it can accurately grasp their physical parameters and absolute position, eliminating the need for multiple personnel to assist in hoisting and solving the problem of low efficiency caused by manual assistance.

[0031] After obtaining the dimensions and three-dimensional spatial coordinates of the target object to be hoisted, and combining the various operational constraints set in advance at the work site, multiple hoisting routes can be planned and designed. Therefore, step S20 is: based on the dimensions and three-dimensional spatial coordinates of the target object to be hoisted, as well as the pre-determined load limits of the hoisting equipment, spatial obstacles in the work area, and safety distance constraints, multiple hoisting operation paths are generated using the improved A* algorithm. The A* algorithm is a classic heuristic search method, commonly used for shortest path planning in a two-dimensional plane. Its total cost function is... The expression is:

[0032] In the formula, Represents the distance from the starting point to the node. The cost function, The heuristic function representing the path from node n to the target point.

[0033] This invention introduces the A* algorithm into the three-dimensional hoisting path planning problem, further incorporating load limitations of the hoisting equipment, spatial obstacles in the work area, and preset safety distance constraints. Therefore, the A* algorithm needs to be improved to simultaneously consider these constraints. The final cost function is based on the improved A* algorithm. for:

[0034] In the formula, For path cost function, For heuristic functions, For the safety cost function, Let the obstacle penalty function be... Let the load cost function be... For the weights of the safety function, For the weights of the barrier function, The weights are the load function weights.

[0035] Path cost function From the starting point to the node The minimum cumulative cost for a new node. , It can be represented as .in, Indicates from node To the node The cost incurred. The cost of setting the starting point. This allows for continuous calculation during the path planning process. .

[0036] This invention uses nodes The Euclidean distance to the target point is used as a heuristic function for the improved A* algorithm. :

[0037] In the formula, For nodes The three-dimensional coordinates The three-dimensional coordinates of the target point.

[0038]

[0039] In the formula, This represents the distance from the node to the nearest obstacle. Represents the minimum safe distance. This represents the safe distance threshold. The closer the distance, the higher the value of the safety cost function.

[0040]

[0041] In the formula, This represents the total number of obstacles within the work area. For "the connection from the current node to the destination" and "the first node" The minimum vertical distance between obstacles in the XY plane projection area. The obstacle penalty intensity coefficient. To prevent constant terms with a denominator of zero (e.g., 0.001), if the current node is obstructed from the target point by an obstacle, This leads to a sharp increase in the value of the obstacle penalty function.

[0042]

[0043] In the formula, This represents the absolute height of the node. The mass of the object being lifted. Load cost function. It is directly proportional to the height and mass of the object being hoisted.

[0044] By adjusting the weights of each cost function, multiple paths with different priorities can be generated. When the solution prioritizes efficiency, Set to 0.5; when the algorithm's highest priority is safety, By selecting 5, 3, and 1 respectively, work areas with short paths but high safety risks are avoided, ultimately generating a work path away from obstacles.

[0045] An improved A* algorithm is used to generate hoisting operation paths. The main execution logic is as follows: Based on the pre-acquired map data of the operation area and constraints such as load limits, spatial obstacles, and safety distances, a digital operation space model for hoisting operations is constructed; with the location of the hoisting target object as the starting point and the preset target location as the ending point, an open list and a closed list are created within the control system; the optimal node with the minimum total cost function is selected and traversed for calculation until the target point is reached or traversal can no longer continue; then, the optimal hoisting operation path is generated through node backtracking; when the operation environment changes, the path planning algorithm is automatically re-run to update and generate a hoisting operation path adapted to the current environment.

[0046] This invention employs an improved A* algorithm that fully integrates the actual working conditions at hydropower station unit maintenance sites. It comprehensively incorporates multiple conditions such as load limitations of hoisting equipment, spatial obstacles in the work area, and safety distance constraints. Based on traditional path planning, it adds calculations for safety costs, obstacle penalties, and load costs, enabling the intelligent generation of multiple hoisting paths that meet different operational needs. This effectively solves the problem that traditional hoisting methods can only plan a single shortest path and cannot simultaneously consider safety and load limitations. It achieves scientific, safe, and efficient planning of hoisting paths, improves the adaptability and reliability of hoisting operations, avoids safety risks such as collisions and overloading during hoisting, and significantly improves the accuracy and efficiency of hoisting operations for hydropower station unit maintenance.

[0047] After all the multiple hoisting operation paths are generated, in order to officially start the hoisting equipment to carry out the transfer operation, it is necessary to determine a unique executable route. Therefore, step S30 is: in response to the path confirmation command, obtain the actual operation path and drive the hoisting equipment to run based on the actual operation path; wherein, the actual operation path is one of the multiple hoisting operation paths; Operators can clearly view different hoisting operation paths through the human-machine interface. After confirming the actual hoisting operation requirements (such as efficiency priority or safety priority), they can select one of the hoisting operation paths as the actual operation path. The system will then drive the hoisting equipment to perform automatic hoisting operations according to the preset path. From finding the target object, lifting the object to accurately placing it, the entire process does not require manual operation, which not only avoids human operation errors but also significantly improves the efficiency and safety of hoisting operations.

[0048] The translation mechanism of the hoisting equipment for hydropower station unit maintenance includes a trolley and a carriage. To prevent rail wear during operation, the wheels of the translation mechanism are 10-20mm wider than the rails. This causes a 10-20mm deviation in the x-axis and y-axis coordinates of the positioning system during operation, which reduces the repeatability of the equipment. For applications requiring high hoisting accuracy, manual correction is still required after the equipment reaches the target position, resulting in low hoisting accuracy and efficiency.

[0049] Therefore, during the entire operation of the hoisting equipment, it is necessary to collect the equipment operation status information in real time. Step S40 is to obtain the offset data and positioning data of the hoisting equipment, and determine the operation compensation amount based on the predetermined target position. In one specific embodiment, the trolley's running direction is set as the X-axis, and the trolley's running direction is set as the Y-axis; high-precision error measuring devices are installed on the trolley and trolley running mechanisms respectively to detect the Y-axis offset data generated during the trolley's operation and the X-axis offset data generated during the trolley's operation in real time; simultaneously, the real-time positioning data of the trolley and trolley (i.e., the lifting equipment) is directly read. axis, (axis positioning data); Based on the predetermined target location, the operational compensation amount is determined, and the specific calculation formula is as follows:

[0050]

[0051] In the formula, For the target location Axis coordinate data, For the target location Axis coordinate data; For hoisting equipment Axis positioning data, For hoisting equipment Axis positioning data; For hoisting equipment Axis offset data, For hoisting equipment Axis offset data.

[0052] After calculating the operational compensation amount, the positional deviations generated during the operation of the hoisting equipment can be eliminated in a targeted manner, thereby ensuring accurate hoisting positioning. Then, step S50 is executed: based on the operational compensation amount, the hoisting equipment is driven to correct operational errors until it reaches the target position and completes the hoisting. By continuously correcting operational errors, the offset generated by the equipment operation is gradually offset, ultimately enabling the hoisting equipment to smoothly reach the preset target position and successfully complete the entire hoisting operation process.

[0053] This invention generates multiple hoisting operation paths using an improved A* algorithm, providing diverse path selections for different working conditions and improving the safety and adaptability of path planning. Addressing the positioning deviation problem caused by the wheels being 10-20mm wider than the track in the translation mechanism, this invention acquires the offset and positioning data of the hoisting equipment, determines the operational compensation amount based on the pre-determined target position, and drives the hoisting equipment to correct operational errors. This effectively offsets the 10-20mm deviation caused by mechanical clearances, improving repeatability to the millimeter level. It avoids the drawback of requiring repeated manual corrections after the equipment reaches the target position, significantly improving hoisting accuracy and operational efficiency, ultimately achieving safe, accurate, efficient, and stable hoisting for hydropower station unit maintenance.

[0054] Based on the same inventive concept as the above method, this invention also proposes an integrated hoisting system for the maintenance of hydropower station units, comprising: The data acquisition module is used to acquire the dimensions and three-dimensional spatial coordinates of the target object being hoisted. The hoisting operation path generation module is used to generate multiple hoisting operation paths based on the size and three-dimensional spatial coordinates of the hoisting target object, as well as the pre-determined load limits of the hoisting equipment, spatial obstacles in the operation area, and safety distance constraints, using an improved A* algorithm. An execution module is used to respond to a path confirmation command, obtain the actual operation path, and drive the hoisting equipment to operate based on the actual operation path; wherein, the actual operation path is one of multiple hoisting operation paths; The operation compensation calculation module is used to acquire the offset and positioning data of the hoisting equipment, and determine the operation compensation amount based on the predetermined target position; The operation module is used to drive the hoisting equipment to correct the operation error based on the operation compensation amount until the hoisting equipment reaches the target position and completes the hoisting.

[0055] Based on the same inventive concept as the above method, the present invention also proposes a device including a memory and a processor, wherein the memory stores computer instructions that can be executed on the processor, and the processor executes the above-described integrated hoisting method for overhauling and repairing hydropower station units when executing the computer instructions.

[0056] Based on the same inventive concept as the above method, the present invention also proposes a computer-readable storage medium storing computer instructions, characterized in that, when the computer instructions are executed, the above-mentioned integrated hoisting method for maintenance of hydropower station units can be realized.

[0057] Any references to memory, storage, database, or other media used in the embodiments provided in this invention may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory.

[0058] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0059] 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; and these 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.

Claims

1. A method for hoisting an integrated overhaul of a hydroelectric generating unit, characterized in that, include: Obtain the dimensions and three-dimensional spatial coordinates of the target object to be hoisted; Based on the size and three-dimensional spatial coordinates of the target object to be hoisted, as well as the pre-determined load limits of the hoisting equipment, spatial obstacles in the work area, and safety distance constraints, an improved A* algorithm is used to generate multiple hoisting operation paths. In response to a path confirmation command, the actual operation path is obtained, and the hoisting equipment is driven to operate based on the actual operation path; wherein, the actual operation path is one of multiple hoisting operation paths; Acquire offset and positioning data of the hoisting equipment, and determine the operational compensation amount based on the predetermined target position; Based on the aforementioned operational compensation, the hoisting equipment is driven to correct operational errors until it reaches the target position and completes the hoisting.

2. The integrated hoisting method for overhauling a hydroelectric generating unit according to claim 1, characterized in that, The expression for the improved A* algorithm is: wherein is a total cost function, is a path cost function, is a heuristic function, is a safety cost function, is an obstacle penalty function, is a load cost function, is a safety function weight, is an obstacle function weight, is a load function weight; The safety cost function is determined based on the spatial obstacles and safety distance constraints of the work area, the obstacle penalty function is determined based on the spatial obstacles of the work area, and the load cost function is determined based on the load limit of the hoisting equipment, the three-dimensional spatial coordinates of the hoisting target object, and the size of the hoisting target object.

3. The integrated hoisting method for overhauling a hydroelectric generating unit according to claim 2, characterized in that, Multiple hoisting operation paths are generated using an improved A* algorithm, specifically including: Using the three-dimensional spatial coordinates as the starting point and the predetermined target position as the target point, a work space model for hoisting operations is constructed. Based on the improved A* algorithm, a path search process is performed within the job space model; Repeat the path search process and adjust the values ​​of the safety function weight, obstacle function weight, and load function weight until multiple hoisting operation paths are generated.

4. The integrated hoisting method for overhauling a hydroelectric generating unit according to claim 3, characterized in that, The path search process specifically includes: In the workspace model, nodes are selected as objects to be evaluated. The improved A* algorithm is used to calculate the path cost function and heuristic function from the starting point to the object to be evaluated. The total cost value of the object to be evaluated is calculated by combining the safety cost function, obstacle penalty function, and load cost function. The path to be evaluated is extended by selecting the object with the highest value from the general agent until a hoisting operation path connecting the starting point and the target point is found.

5. The integrated hoisting method for overhauling hydropower station units according to claim 4, characterized in that, The actual operation path is determined from the multiple hoisting operation paths based on the predetermined operation requirements.

6. The integrated hoisting method for overhauling hydropower station units according to claim 5, characterized in that, The operational requirements include time requirements and safety requirements; the hoisting operation path includes a time-priority path and a safety-priority path. When the time-priority path is generated, the weights of the safety function, obstacle function, and load function are all 0.

5. When the safety priority path is generated, the safety function weight is 5, the obstacle function weight is 3, and the load function weight is 1.

7. The integrated hoisting method for overhauling hydropower station units according to claim 1, characterized in that, The expression for determining the running compensation amount is: In the formula, For the target location Axis coordinate data, For the target location Axis coordinate data; For hoisting equipment Axis positioning data, For hoisting equipment Axis positioning data; For hoisting equipment Axis offset data, For hoisting equipment Axis offset data.

8. An integrated hoisting system for the maintenance of hydropower station units, characterized in that, include: The data acquisition module is used to acquire the dimensions and three-dimensional spatial coordinates of the target object being hoisted. The hoisting operation path generation module is used to generate multiple hoisting operation paths based on the size and three-dimensional spatial coordinates of the hoisting target object, as well as the pre-determined load limits of the hoisting equipment, spatial obstacles in the operation area, and safety distance constraints, using an improved A* algorithm. An execution module is used to respond to a path confirmation command, obtain the actual operation path, and drive the hoisting equipment to operate based on the actual operation path; wherein, the actual operation path is one of multiple hoisting operation paths; The operation compensation calculation module is used to acquire the offset and positioning data of the hoisting equipment, and determine the operation compensation amount based on the predetermined target position; The operation module is used to drive the hoisting equipment to correct the operation error based on the operation compensation amount until the hoisting equipment reaches the target position and completes the hoisting.

9. A device comprising a memory and a processor, wherein the memory stores computer instructions executable on the processor, characterized in that, When the processor executes the computer instructions, it performs the integrated hoisting method for overhauling hydropower station units as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the computer instructions are executed, the integrated hoisting method for overhauling hydropower station units as described in any one of claims 1 to 7 can be implemented.

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