A method for pre-controlling hoisting posture of a rigid member and related device

Abstract

The application discloses a rigid component hoisting posture pre-control method and a related device, relates to the component hoisting field, and comprises the following steps: constructing an error function based on a first condition and a second condition, the first condition comprising that, after the component is balanced based on a current hoisting point, the center of gravity is located directly below the current hoisting point, and the second condition comprising that the actual direction of a specified geometric feature is consistent with a target direction, so as to convert the hoisting posture control problem into a rigid statics inverse problem; iteratively solving the hoisting point coordinates according to the error function, and determining theoretical hoisting point coordinates according to the iterative solving result; since the function can reflect the analytical mapping relationship between the theoretical hoisting point coordinates and the component target posture, the application can realize the theoretical hoisting point determination task with physical interpretability and mathematical rigor, and meet the hoisting posture requirements; and then, the target hoisting point is determined from the component surface that meets the welding condition according to the theoretical hoisting point coordinates, so that the hoisting point design task that takes into account the theoretical accuracy and engineering requirements is realized.

Description

Technical Field

[0001] This application relates to the field of component hoisting technology, and in particular to a method and related device for pre-controlling the hoisting posture of rigid components. Background Technology

[0002] In the field of rigid component hoisting (referred to as components), it is generally desirable for the components to hang in a predetermined target posture after hoisting. For example, in the outgoing line assembly of a large oil-immersed transformer (typically such as...), Figure 1 During the installation of the L-shaped irregular component shown, it is desirable that the short side of the L-shaped outgoing line device precisely aligns with the flange connection surface of the transformer box wall, such as... Figure 2 As shown. Based on this, in order to meet the posture requirements of component hoisting, the location of the hoisting points needs to be designed.

[0003] However, the components that need to be hoisted usually have a significantly non-uniform mass distribution, which increases the difficulty of hoisting point design. Taking the L-shaped cable outlet device as an example, its interior often contains materials of different densities such as copper conductors, steel flanges, insulating cardboard, and shielding components, which makes the mass distribution of the cable outlet device significantly non-uniform and anisotropic. At the same time, the angle between the long side and the short side of the L-shaped cable outlet device is usually not equal to 90° (such as 105°), which further exacerbates the irregularity of the component.

[0004] Currently, the lifting point can be determined by identifying the component's center of gravity and projecting it onto the component's upper surface. However, due to the irregular structure and non-uniform mass distribution of the component to be lifted, this method cannot achieve the purpose of lifting the component in a specific posture and cannot meet the assembly requirements. Summary of the Invention

[0005] In view of the above problems, this application provides a method and related device for pre-controlling the hoisting attitude of rigid components, so as to achieve the purpose of hoisting rigid components in a target attitude. The specific solution is as follows:

[0006] The first aspect of this application provides a method for pre-controlling the hoisting attitude of a rigid component, including:

[0007] Obtain the target orientation of the rigid body component to be hoisted;

[0008] An error function is constructed based on the first and second conditions. The first condition includes: after the rigid body component is balanced based on the current lifting point, in the inertial coordinate system, the center of gravity of the rigid body component is located directly below the current lifting point. The second condition includes: the actual direction of a specified geometric feature is consistent with the target direction. The specified geometric feature is a geometric element with directional attributes in the body-fixed coordinate system. The actual direction is determined based on the actual rotation matrix and the spatial orientation of the specified geometric feature in the body-fixed coordinate system. The actual rotation matrix is ​​determined by solving the rigid body static equilibrium equation based on the current lifting point coordinates. The target direction is the target spatial orientation of the specified geometric feature in the inertial coordinate system, determined based on the target attitude.

[0009] The coordinates of the suspension point are iteratively solved based on the error function, and the coordinates of the theoretical suspension point in the body-fixed coordinate system are determined based on the iterative solution results. The coordinates of the suspension point are the coordinates of the current suspension point in the body-fixed coordinate system. The initial coordinates of the suspension point are preset initial coordinates. The coordinates of the suspension point in the next round are obtained by updating the coordinates of the suspension point based on the current error function value. The theoretical suspension point satisfies the following condition: the error function value calculated based on the coordinates of the theoretical suspension point in the body-fixed coordinate system satisfies the preset convergence condition.

[0010] Based on the coordinates of the theoretical lifting point in the fixed coordinate system, the target lifting point is determined from the surface of the component that meets the welding conditions.

[0011] A second aspect of this application provides a pre-control device for the hoisting attitude of a rigid component, comprising:

[0012] The input unit is used to obtain the target attitude of the rigid body component to be hoisted;

[0013] An error function construction unit is used to construct an error function based on a first condition and a second condition. The first condition includes: after the rigid body component is balanced based on the current lifting point, in the inertial coordinate system, the center of gravity of the rigid body component is located directly below the current lifting point. The second condition includes: the actual direction of a specified geometric feature is consistent with the target direction. The specified geometric feature is a geometric element with directional attributes in the body-fixed coordinate system. The actual direction is determined based on the actual rotation matrix and the spatial orientation of the specified geometric feature in the body-fixed coordinate system. The actual rotation matrix is ​​determined by solving the rigid body static equilibrium equation based on the current lifting point coordinates. The target direction is the target spatial orientation of the specified geometric feature in the inertial coordinate system, determined based on the target attitude.

[0014] The suspension point calculation unit is used to iteratively solve the suspension point coordinates based on the error function, and determine the coordinates of the theoretical suspension point in the body-fixed coordinate system based on the iterative solution results. The suspension point coordinates are the coordinates of the current suspension point in the body-fixed coordinate system. The initial suspension point coordinates are preset initial suspension point coordinates. The suspension point coordinates in the next round are obtained by updating the suspension point coordinates based on the current error function value. The theoretical suspension point satisfies the following condition: the error function value calculated based on the coordinates of the theoretical suspension point in the body-fixed coordinate system satisfies a preset convergence condition.

[0015] The lifting point determination unit is used to determine the target lifting point from the surface of the component that meets the welding conditions based on the coordinates of the theoretical lifting point in the body-fixed coordinate system.

[0016] A third aspect of this application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0017] The memory is used to store computer programs;

[0018] The processor is used to execute the computer program so that the electronic device can implement the rigid body component hoisting attitude pre-control method described in the first aspect above.

[0019] A fourth aspect of this application provides a storage medium carrying one or more computer programs that, when executed by an electronic device, enable the electronic device to implement the rigid body component hoisting attitude pre-control method described in the first aspect.

[0020] The fifth aspect of this application provides a computer program product, including computer-readable instructions, which, when executed on an electronic device, enable the electronic device to implement the rigid body component hoisting attitude pre-control method described in the first aspect above.

[0021] Using the above technical solution, this application constructs an error function based on the first and second conditions, transforming the hoisting attitude control problem into an inverse problem of rigid body statics. The coordinates of the hoisting point are iteratively solved based on the error function, and the theoretical hoisting point coordinates are determined according to the solution results. Since this function can reflect the analytical mapping relationship between the theoretical hoisting point coordinates and the target attitude of the component, this application can achieve a hoisting point design task with both physical interpretability and mathematical rigor, meeting the hoisting attitude requirements. Then, based on the theoretical hoisting point coordinates, the target hoisting point is determined from the surface of the component that meets the welding conditions, realizing a hoisting point design task that balances theoretical accuracy and engineering requirements.

[0022] Furthermore, when hoisting components based on the target lifting points determined in this application, there is no need to pre-weld the lifting points or repeatedly try to assemble them, thereby reducing the experience requirements for operators; and this application can achieve the purpose of hoisting components in the target posture, thereby increasing the possibility of successful assembly on the first attempt, and providing a basis for improving the efficiency of component hoisting. Attached Figure Description

[0023] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic and the elements are not necessarily drawn to scale.

[0024] Figure 1 An example is a schematic diagram of the structure of an L-type output device for a transformer;

[0025] Figure 2 This example illustrates the connection relationship between the short side of the L-shaped outgoing line device and the flange connection face of the transformer box wall;

[0026] Figure 3 A schematic diagram of an implementation system architecture for the rigid body component hoisting attitude pre-control method provided in this application embodiment;

[0027] Figure 4 A flowchart illustrating a method for pre-controlling the hoisting attitude of a rigid component, provided in an embodiment of this application;

[0028] Figure 5 A schematic diagram showing the arrangement of a single lifting lug is provided.

[0029] Figure 6 A schematic diagram of a rigid body component hoisting attitude pre-control device provided in this application embodiment;

[0030] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0031] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0032] As will be known to those skilled in the art, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0033] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0034] The applicant, through research, discovered that in traditional engineering practice, multiple lifting lugs are typically pre-welded to different parts of the component, and each lug is connected to the hook using a hand-operated hoist. Operators then actively adjust the torque using the hoist to adjust the component's aerial posture, repeatedly trying different approaches until the component's actual posture closely approximates the target posture, ultimately achieving the goal of hoisting the component in the target posture. Because rigid components typically have irregular structures and uneven mass distribution, the traditional method is time-consuming and requires a high level of operator experience. Furthermore, the need to weld multiple lifting lugs introduces significant risks associated with welding, grinding, and repair welding, increasing the risk of component damage, such as damage to the high-voltage insulation structure of an L-shaped cable outlet device.

[0035] Further research by the applicant revealed that, to achieve single-point lifting as much as possible, the lifting point positions can be pre-determined using an engineering approximation method. Specifically, this involves: creating a 3D model of the rigid component to be lifted; exporting the 3D model as a 2D engineering drawing; manually drawing a plumb line on the 2D drawing; and arranging lifting points, or symmetrically arranging two lifting points, based on the intersection of the plumb line and the upper surface of the component. Then, using steel wire ropes of equal length, an approximate single-point lifting is achieved. However, this method relies on the geometric characteristics of the component and 2D geometric drawing, is significantly affected by the upper surface of the component, and the error in determining the lifting points is influenced by the operator's visual judgment and operational precision, making it difficult to achieve the goal of lifting in the target posture.

[0036] To address the aforementioned issues, this application provides a method and related device for pre-controlling the hoisting posture of rigid components, enabling the components to automatically assume the target posture after a single hoisting, thereby achieving the goal of zero-adjustment hoisting.

[0037] The rigid body component hoisting attitude pre-control method provided in this application can be applied to, for example... Figure 3 The system architecture shown may include a terminal 100 and a server 200. The server 200 may include one or more servers (…). Figure 3 (This example uses a server as an illustration).

[0038] Either terminal 100 or server 200 can be used independently to execute the rigid body component hoisting attitude pre-control method provided in this application embodiment. Alternatively, terminal 100 and server 200 can also be used collaboratively to execute the rigid body component hoisting attitude pre-control method provided in this application embodiment. Terminal 100 in this application embodiment can be a mobile phone, computer, etc., and this application embodiment does not impose any limitations on it.

[0039] This application provides a method for pre-controlling the hoisting attitude of rigid components. Taking the application of this method to a computer device as an example, the computer device can specifically be... Figure 3 The system consists of terminal 100 or a combination of terminal 100 and server 200. (Refer to...) Figure 4 The method for pre-controlling the hoisting attitude of rigid components specifically includes the following steps:

[0040] S101. Obtain the target attitude of the rigid body component to be hoisted.

[0041] The rigid body component described in this application refers to a component that does not deform or deforms to a degree much smaller than its own geometric dimensions after being subjected to force, that is, the rigid body component remains unchanged or tends to remain unchanged before and after hoisting.

[0042] The target attitude refers to the target hoisting attitude or target assembly attitude of the component. Optionally, the target attitude can be represented using Euler angles or a direction cosine matrix. Correspondingly, Euler angles or a direction cosine matrix can also be used to describe the actual attitude of the component. The following explanation uses Euler angles (α,β,γ) as an example. Euler angles (α,β,γ) describe the three ordered rotations of the component from its initial attitude to its actual attitude (such as the target attitude). For example, α, β, and γ represent the rotation amounts of the vertical axis, the left-right axis, and the front-back axis, respectively.

[0043] S102. Construct an error function based on the first and second conditions.

[0044] The first and second conditions will be explained below.

[0045] The first condition, also known as the static constraint condition, may specifically include: after the rigid body component is balanced based on the current lifting point, in the inertial coordinate system, the center of gravity of the rigid body component is located directly below the current lifting point.

[0046] The aforementioned rigid body component being balanced based on the current lifting point means that after the component is lifted based on the current lifting point, it is in a natural suspended state. It should be noted that after lifting, the component will rotate around the lifting point until its center of gravity is directly below the lifting point. That is, the actual posture of the component under the action of the lifting point is uniquely determined by the position of the center of gravity and the position of the lifting point.

[0047] The current lifting point, or the currently determined lifting point, is represented by its coordinates in the solid-fixed coordinate system. The solid-fixed coordinate system refers to the coordinate system of the rigid body itself, in which the coordinates of the rigid body's center of gravity are fixed. For example, a three-dimensional solid model of the rigid body component can be created, and density attributes can be configured for this model based on the actual materials constituting the component, obtaining the density distribution function of the component in the solid-fixed coordinate system, which can be expressed as: Let r be the position vector of any point within the rigid body component. Based on this, we can... Calculate the centroid coordinates of the component, where M represents the total weight of the component. Alternatively, this can be achieved through finite element discrete volume integration. Calculate the centroid coordinates of the component, where i is the discrete element number and ρ i Let V be the density of the i-th discrete unit. i Let r be the volume of the i-th discrete unit. i Let be the position vector of the i-th discrete unit.

[0048] To distinguish them from the inertial coordinate system, this application uses the identifier "body" to represent coordinates in a body-fixed coordinate system and the identifier "inertial" to represent coordinates in the inertial coordinate system. Furthermore, the eigenvectors of the component features (including points, lines, or surfaces) described in this application in the inertial coordinate system are all eigenvectors after the component has reached equilibrium.

[0049] Based on the foregoing, the first condition can be expressed as: , This represents the position vector of the center of gravity in the inertial coordinate system. This represents the position vector of the current lifting point in the inertial coordinate system. This represents the vertically upward unit vector in the inertial coordinate system.

[0050] The aforementioned first condition can also include: after the rigid body component is balanced based on the current lifting point, the coordinates of the center of gravity in the inertial coordinate system and the coordinates of the current lifting point in the inertial coordinate system have the same horizontal component. That is, the first condition can also be expressed as... , and Let x and y represent the x and y coordinates of the center of gravity in the inertial coordinate system, respectively. and These represent the x and y coordinates of the current suspension point in the inertial coordinate system, respectively.

[0051] The first condition mentioned above, which expresses the static equilibrium condition with the center of gravity located directly below the suspension point as zero deviation between the center of gravity and the suspension point in the horizontal direction (x, y direction) in the inertial coordinate system, transforms the complex mechanical constraints into an intuitive coordinate comparison. This is beneficial for numerical implementation by computers and also provides a clear and explicit physical basis for the subsequent construction of error functions.

[0052] It should be noted that the first condition expressed in different ways is essentially equivalent. If the lifting point is determined solely based on the first condition, it only ensures that the lifting point and the center of gravity are perpendicular, without constraining the rotation angle of the rigid body about the vertical line or the lifting posture of the component. Since operators can make simple fine adjustments to the rotation angle of the component about the vertical line before the component is placed in position in actual engineering, this application further controls the tilt posture of the component in the vertical plane when designing the lifting point. The circumferential phase of the component is not controlled, but the assembly requirements are met through engineering tolerances or other auxiliary means.

[0053] The second condition, also known as attitude constraint, can specifically include ensuring that the actual direction of a specified geometric feature is consistent with the target direction. The specified geometric feature is a geometric element with directional attributes in a volume-fixed coordinate system. For example, it could be a specific geometric element within a component, such as the normal vector of a specified surface or a specified directed edge.

[0054] The actual direction is determined based on the actual rotation matrix and the spatial orientation of the specified geometric feature in the body-fixed coordinate system. The actual rotation matrix is ​​determined by solving the static equilibrium equation of the rigid body based on the current suspension point coordinates. The target direction is the target spatial orientation of the specified geometric feature in the inertial coordinate system, which is determined based on the target attitude. In other words, the target direction is the spatial orientation of the specified geometric feature in the inertial coordinate system when the rigid body component is in the target attitude.

[0055] For example, suppose the eigenvector of the specified geometric feature in the volume-fixed coordinate system is... Then the eigenvector of this vector in the inertial coordinate system Where R represents the rotation matrix, used to describe the attitude transformation of the component from the fixed coordinate system to the inertial coordinate system, and is related to the component's attitude. The aforementioned actual direction can then be expressed as: , This represents the actual rotation matrix; the target direction can be represented as... , This represents the target rotation matrix, which is determined based on the target's attitude.

[0056] Based on this, the second condition can be expressed as V i actual V is the actual direction vector, which is used to characterize the actual direction of the specified geometric feature. i target The target direction vector is used to characterize the target direction of the specified geometric feature. It should be noted that, unless otherwise specified, the direction described in this application is generally a direction in an inertial coordinate system.

[0057] The second condition mentioned above quantifies the consistency between the actual direction of the specified geometric feature and the target direction as a zero vector angle, constructing an attitude deviation with a clear numerical metric, and providing an intuitive basis for setting convergence conditions.

[0058] In another possible implementation, the coordinate basis vectors of the volume-fixed coordinate system can be selected as the specified geometric feature, with the vertically upward unit vector e in the coordinate system as the reference. Z body For example, the aforementioned second condition can also be expressed as e Z body This is a vertically upward unit vector in a volume-fixed coordinate system, representing the spatial orientation of a specified geometric feature in the volume-fixed coordinate system. Indicates the actual spatial orientation of the specified geometric feature in the inertial coordinate system, e Z inertial It is a vertically upward unit vector in the inertial coordinate system, representing the target spatial orientation of the specified geometric feature in the inertial coordinate system.

[0059] Based on the above, the error function can be composed of the first error and the second error.

[0060] The first error corresponds to the first condition and is used to characterize the horizontal component offset between the centroid coordinates and the current suspension point coordinates in the inertial coordinate system; the second error corresponds to the second condition and is used to characterize the offset between the actual direction and the target direction of the specified geometric feature in the inertial coordinate system.

[0061] For example, the error function is represented as (first error, second error); in another possible implementation, the error function can also be represented as the sum or weighted sum of the first error and the second error. This embodiment does not limit the specific form of the error function.

[0062] S103. Iteratively solve the coordinates of the suspension point based on the error function, and determine the coordinates of the theoretical suspension point in the body-fixed coordinate system based on the iterative solution results.

[0063] It should be noted that, unless otherwise specified, the coordinates of the suspension point, i.e. the coordinates of the suspension point used in this iteration, can also be called the current coordinates of the suspension point, which are the coordinates of the current suspension point in the body-fixed coordinate system.

[0064] The initial lifting point coordinates are preset initial lifting point coordinates. Optionally, a point directly above the geometric center of the rigid body component can be selected as the initial lifting point P0, and its corresponding initial lifting point coordinates can be represented as r. P 0 .

[0065] The coordinates of the suspension point in the next round are obtained by updating the suspension point coordinates based on the current error function value. In other words, assuming the current iteration is the kth iteration, the coordinates of the suspension point r in the (k+1)th iteration are... P k+1 With r P k and r P k It is related to the corresponding error value.

[0066] The theoretical lifting point satisfies the following: the error function value calculated based on the coordinates of the theoretical lifting point in the fixed coordinate system satisfies the preset convergence condition. In other words, after the rigid body component is balanced based on the theoretical lifting point, in the inertial coordinate system, the center of gravity of the rigid body component is located or tends to be directly below the theoretical lifting point, and the actual direction of the specified geometric feature in the rigid body component is consistent with or tends to be consistent with the target direction.

[0067] S104. Based on the coordinates of the theoretical lifting point in the body-fixed coordinate system, determine the target lifting point from the surface of the component that meets the welding conditions.

[0068] It should be noted that the theoretical lifting point can be located outside the component (possibly due to the center of gravity being located outside the component). Even if the theoretical lifting point is located on the surface of the component, there may be situations where the welding conditions are not met at the theoretical lifting point. Therefore, it is necessary to determine the final target lifting point based on the theoretical lifting point. In other words, this application does not rely on geometric features, can be applied to special scenarios such as the center of gravity or theoretical lifting point being located outside the component, or the component not having a defined upper surface, and can be applied to various rigid body components, thus possessing wide applicability.

[0069] The welding conditions described in this application can be set according to the welding process requirements, and may specifically include steel plate thickness conditions, radius of curvature conditions, structural strength conditions, etc. This application does not limit the specific composition of the welding conditions.

[0070] This embodiment transforms the hoisting attitude control problem into an inverse problem of rigid body statics by constructing an error function based on the first and second conditions. Since the error function can reflect the analytical mapping relationship between the theoretical hoisting point coordinates and the component attitude, the hoisting point coordinates are iteratively solved based on this, and the theoretical hoisting point coordinates are determined according to the solution results, thus realizing the hoisting point design task with physical interpretability and mathematical rigor.

[0071] Furthermore, when hoisting components based on the target lifting points determined in this application, there is no need to pre-weld the lifting points or repeatedly try to assemble them, thereby reducing the experience requirements for operators; and this application can achieve the purpose of hoisting components in the target posture, thereby increasing the possibility of successful assembly on the first attempt, and providing a basis for improving the efficiency of component hoisting.

[0072] In one or more embodiments provided in this application, the error function can be expressed as:

[0073] ;

[0074] Where, r P L represents the coordinates of the current suspension point in the body-fixed coordinate system, i.e., the position vector of the current suspension point in the body-fixed coordinate system; x This represents a preset x-coordinate difference reference value, which can be set based on the x-coordinate difference between the center of gravity and the initial suspension point. For example, L x ∈[500,2000] mm; L y This represents a preset y-coordinate difference reference value, which can be set based on the y-coordinate difference between the center of gravity and the initial suspension point. For example, L... y ∈[500,2000] mm. By using the reference values ​​for the x-coordinate difference and y-coordinate difference, the x-coordinate difference and y-coordinate difference can be converted into dimensionless quantities to unify the various error terms.

[0075] This embodiment transforms the lifting point design problem into a problem of finding the lifting point coordinates that simultaneously reduce all components of the error function to zero by using a three-dimensional error vector function, enabling efficient solution using the Newton-Raphson numerical iteration method. Based on this, iteratively solving for the lifting point coordinates according to the error function can include:

[0076] The coordinates of the suspension point are solved by Newton-Raphson iteration based on the error function.

[0077] Taking the k-th iteration as an example, the iterative solution process may include the following steps:

[0078] The first step is to obtain the coordinates of the hanging point in the kth iteration.

[0079] In the first iteration, the coordinates of the suspension point are the pre-set initial coordinates of the suspension point, such as the coordinates of the point directly above the geometric center. The coordinates of the suspension point in subsequent iterations are determined based on the coordinates of the suspension point in the previous iteration.

[0080] The second step is to substitute the coordinates of the suspension point from the kth iteration into the error function to obtain the corresponding error value.

[0081] For example, the error value corresponding to the k-th iteration can be expressed as: ; and Let x and y be the coordinates of the centroid in the inertial coordinate system during the k-th iteration, respectively. and Let x and y represent the x and y coordinates of the lifting point in the inertial coordinate system for the k-th iteration, respectively. These coordinates are obtained by transforming the coordinates of the centroid and the lifting point in the k-th iteration using the actual rotation matrix of the k-th iteration. The actual rotation matrix is ​​obtained by solving the rigid body statics equilibrium equations. This represents the eigenvector of a specified geometric feature in the inertial coordinate system for the k-th iteration, and the eigenvector of the specified geometric feature relative to the actual rotation matrix of the k-th iteration. The result is obtained by transformation. Indicates to Find the norm, such as the 2-norm.

[0082] The third step is to determine whether the error value corresponding to the kth iteration meets the convergence condition. If yes, proceed to the fourth step; otherwise, proceed to the fifth step.

[0083] Based on the foregoing, convergence conditions may include .

[0084] Step 4: Determine the suspension point of the k-th iteration as the theoretical suspension point and stop the iterative solution.

[0085] Step 5: Calculate the Jacobian matrix Then, update the coordinates of the suspension point and begin the next round of iterative solution.

[0086] For example, the Jacobian matrix can be obtained through finite difference analysis or sensitivity analysis. The updated suspension point coordinates, i.e., the suspension point coordinates in the (k+1)th iteration, can be expressed as... , This represents the coordinates of the hoisting point in the k-th iteration. Describe the pseudo-inverse of the Jacobian matrix J. , Let represent the error function of the k-th iteration.

[0087] This embodiment utilizes the Jacobian matrix to provide the gradient information of the error function at the current suspension point, thereby updating the suspension point coordinates and enabling the current suspension point to approximate the theoretical suspension point as quickly as possible. Compared to traditional trial-and-error methods, this embodiment has higher solution efficiency.

[0088] The process of determining the target lifting point is explained below.

[0089] In one or more embodiments provided in this application, when a rigid component meets preset single-point lifting conditions, determining the target lifting point from the surface of the component that meets the welding conditions based on the coordinates of the theoretical lifting point in the body-fixed coordinate system may include:

[0090] S201. Calculate the distance between any two points on the surface of a rigid component that meet the welding conditions.

[0091] Wherein, the distance between the two points is the distance from the point that meets the welding conditions to the theoretical lifting point;

[0092] S202. Determine the point corresponding to the smallest distance between two points as the target hoisting point.

[0093] For example, Figure 5 A schematic diagram of the single lug arrangement is shown.

[0094] This embodiment, while considering the welding conditions, determines the target lifting point based on the principle of minimum distance. Since the point with the smallest distance often has the smallest deviation, this maximizes the preservation of theoretical calculation accuracy. Based on this embodiment, the determined target lifting point can be optimally approximated to the theoretical optimal solution while ensuring engineering constraints. Furthermore, the single-point lifting scheme implemented in this embodiment eliminates the need for multiple welding, grinding, and repair welding, reducing the risk of structural damage caused by lifting and providing a foundation for improving product reliability.

[0095] Optionally, the aforementioned single-point lifting conditions may include: the weight of the rigid component is lower than a preset mass threshold. For example, the rigid component... The weight can be expressed as .

[0096] In addition, this condition may include other contents, which are not limited in this application.

[0097] Correspondingly, in one or more embodiments provided in this application, when the rigid component does not meet the preset single-point lifting conditions, determining the target lifting point from the surface of the component that meets the welding conditions based on the coordinates of the theoretical lifting point in the body-fixed coordinate system may include:

[0098] S301. For each combination of lifting points on the surface of a rigid component that satisfies the welding conditions, calculate the point of application of the resultant force of the n lifting points constituting the current lifting point combination, and calculate the distance between the point of application of the resultant force and the theoretical lifting point.

[0099] Where n is an integer greater than 1. In one possible implementation, the number of lifting points n constituting the lifting point combination can be preset, and then all points on the surface of the rigid body member that satisfy the welding conditions can be traversed to generate lifting point combinations that satisfy the welding conditions. For example, the number of combinations can be represented as C. N n N represents the number of points on the surface of the rigid member that meet the welding conditions. Then, the resultant force application point calculation step and subsequent steps are performed for each combination of lifting points. Optionally, multiple pre-set n values ​​can be used, and the above scheme can be performed for each n value to determine the minimum distance between two points. Furthermore, the upper limit of n can be set based on the structural damage risk of the lifting operation. Optionally, n can also be set based on the weight of the rigid member to achieve the goal of completing the lifting operation with the fewest possible lifting points.

[0100] S302. Determine the combination of lifting points corresponding to the point of application of the resultant force closest to the theoretical lifting point as the target lifting point combination.

[0101] The target suspension point is the n suspension points that constitute the target suspension point combination.

[0102] Based on the above, when a component does not meet the single-point lifting conditions (such as when the component is heavy), the distance between the resultant force point of multiple lifting points and the theoretical lifting point position is minimized to determine the target lifting point combination, thus realizing the lifting point design task that takes into account both theoretical accuracy and actual needs.

[0103] In another possible implementation, the target lifting point combination can also be determined by solving an objective optimization problem. The objective optimization problem takes minimizing the Euclidean distance between the point of application of the resultant force and the theoretical lifting point as the objective function, and its constraint condition is that each lifting point is a point on the surface of a rigid body component that satisfies the welding conditions.

[0104] Based on the foregoing, to constrain and prevent rigid components from rotating about the vertical direction, a lifting lug with a non-circular inner hole can be provided at the target lifting point. Correspondingly, the hook or sling connector to be used has a cross-sectional shape that matches the non-circular inner hole, that is, during lifting, the lifting lug and the hook / sling connector can be engaged at a uniquely determined circumferential angle. Based on this, in one or more embodiments provided in this application, after determining the target lifting point, the following is further included:

[0105] The direction of the lifting lugs at the target lifting point is determined based on the third constraint.

[0106] The third constraint is used to constrain the degree of freedom of the rigid body component to rotate about the vertical direction. Based on this, by setting the lifting lugs at the target lifting point according to the aforementioned lifting lug setting direction, it can be achieved that the lifting lugs can only be engaged at a uniquely determined circumferential angle during lifting.

[0107] In one or more embodiments provided in this application, the rigid body component is a transformer L-shaped output device.

[0108] Based on this, the specified geometric feature can be the normal vector of the short side of the transformer's L-type outgoing line device and the flange surface connecting the tank wall.

[0109] Through testing, taking the A-phase outgoing line device of a 750 kV transformer as an example, the total mass of the component is M = 326.5 kg, the included angle between the long and short sides of the L-shape is 105°, the coordinates of the center of gravity in the body-fixed coordinate system are (142.3, -87.6, 468.2) mm, the target posture is an angle of 18° with the vertical direction, and the initial lifting point coordinates are (313.3, -87.6, 988.2) mm. After iterative solution, the target lifting point is determined to be (305.6, -85.1, 988.2) mm. After lifting according to the target lifting point, the measured equilibrium posture angle of the component is 17.9°, the deviation from the target posture is -0.1°, and the flange bolts are aligned and assembled successfully in one go.

[0110] The following describes the rigid component hoisting attitude pre-control device provided in the embodiments of this application. The rigid component hoisting attitude pre-control device described below and the rigid component hoisting attitude pre-control method described above can be referred to in correspondence.

[0111] See Figure 6 , Figure 6 This is a schematic diagram of a rigid body component hoisting posture pre-control device disclosed in an embodiment of this application.

[0112] like Figure 6 As shown, the device may include:

[0113] Input unit 11 is used to obtain the target posture of the rigid body component to be hoisted;

[0114] Error function construction unit 12 is used to construct an error function based on a first condition and a second condition; the first condition includes: after the rigid body component is balanced based on the current lifting point, in the inertial coordinate system, the center of gravity of the rigid body component is located directly below the current lifting point; the second condition includes that the actual direction of a specified geometric feature is consistent with the target direction, the specified geometric feature is a geometric element with directional attributes in the body-fixed coordinate system, the actual direction is determined based on the actual rotation matrix and the spatial orientation of the specified geometric feature in the body-fixed coordinate system, the actual rotation matrix is ​​determined by solving the rigid body static equilibrium equation based on the current lifting point coordinates, and the target direction is the target spatial orientation of the specified geometric feature in the inertial coordinate system, determined based on the target attitude;

[0115] The suspension point solving unit 13 is used to iteratively solve the suspension point coordinates based on the error function, and determine the coordinates of the theoretical suspension point in the body-fixed coordinate system based on the iterative solution results; the suspension point coordinates are the coordinates of the current suspension point in the body-fixed coordinate system, the initial suspension point coordinates are preset initial suspension point coordinates, and the suspension point coordinates in the next round are obtained by updating the suspension point coordinates based on the current error function value; the theoretical suspension point satisfies the following: the error function value calculated based on the coordinates of the theoretical suspension point in the body-fixed coordinate system satisfies the preset convergence condition;

[0116] The lifting point determination unit 14 is used to determine the target lifting point from the surface of the component that meets the welding conditions based on the coordinates of the theoretical lifting point in the body-fixed coordinate system.

[0117] In one possible implementation, the first condition is expressed as: In the formula, This represents the x-coordinate of the center of gravity of the rigid body component in the inertial coordinate system. This represents the x-coordinate of the current lifting point in the inertial coordinate system. This represents the y-coordinate of the center of gravity of the rigid body component in the inertial coordinate system. This represents the y-coordinate of the current suspension point in the inertial coordinate system.

[0118] In one possible implementation, the second condition is expressed as: V i actual V is the actual direction vector, which is used to characterize the actual direction of the specified geometric feature. i target The target direction vector is used to characterize the target direction of the specified geometric feature.

[0119] In one possible implementation, the error function is expressed as: r P L represents the coordinates of the current suspension point in the body-fixed coordinate system. x L represents the preset x-coordinate difference reference value. y This represents the preset reference value for the y-coordinate difference;

[0120] The process by which the lifting point solving unit 13 iteratively solves the lifting point coordinates based on the error function may include:

[0121] The coordinates of the suspension point are solved using a Newton-Raphson iteration based on the aforementioned error function; wherein, the coordinates of the suspension point in the (k+1)th iteration are expressed as: , This represents the coordinates of the hoisting point in the k-th iteration. Describe the pseudo-inverse of the Jacobian matrix J. , Let represent the error function of the k-th iteration.

[0122] In one possible implementation, the process by which the lifting point determination unit 14 determines the target lifting point from the surface of the component that meets the welding conditions based on the coordinates of the theoretical lifting point in the body-fixed coordinate system may include:

[0123] When the rigid component meets the preset single-point hoisting conditions, the distance between two points is calculated for all points on the surface of the rigid component that meet the welding conditions. The distance between two points is the distance from the point that meets the welding conditions to the theoretical hoisting point.

[0124] The point corresponding to the smallest distance between two points is determined as the target hoisting point.

[0125] In one possible implementation, the process by which the lifting point determination unit 14 determines the target lifting point from the surface of the component that meets the welding conditions based on the coordinates of the theoretical lifting point in the body-fixed coordinate system may include:

[0126] When the rigid component does not meet the preset single-point lifting conditions, for each lifting point combination on the surface of the rigid component that meets the welding conditions, the resultant force application point of the n lifting points constituting the current lifting point combination is calculated, and the distance between the resultant force application point and the theoretical lifting point is calculated; n is an integer greater than 1; the lifting point combination corresponding to the resultant force application point closest to the theoretical lifting point is determined as the target lifting point combination, and the target lifting point is the n lifting points constituting the target lifting point combination.

[0127] In one possible implementation, the rigid component is an L-shaped output device of a transformer.

[0128] Each unit in the rigid component hoisting attitude pre-control device can be implemented entirely or partially through software, hardware, or a combination thereof. These units can be embedded in the processor of a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each unit.

[0129] This application also provides an electronic device in its embodiments. (See reference...) Figure 7 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this application. The electronic device in the embodiments of this application may include, but is not limited to, devices such as mobile phones and computers. Figure 7 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0130] like Figure 7As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 1, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 2 or a program loaded from a storage device 8 into a random access memory (RAM) 3, to implement the rigid body component hoisting attitude pre-control method of the foregoing embodiments of this application. When the electronic device is powered on, the RAM 3 also stores various programs and data required for the operation of the electronic device. The processing unit 1, ROM 2, and RAM 3 are interconnected via a bus 4. An input / output (I / O) interface 5 is also connected to the bus 4.

[0131] Typically, the following devices can be connected to I / O interface 5: input devices 6, including, for example, touchscreens, touchpads, keyboards, mice, etc.; output devices 7, including, for example, liquid crystal displays (LCDs); storage devices 8, including, for example, memory cards, hard drives, etc.; and communication devices 9. Communication device 9 allows electronic devices to exchange data via wireless or wired communication with other devices. Although Figure 7 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0132] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the rigid body component hoisting attitude pre-control methods provided in this application.

[0133] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the rigid body component hoisting attitude pre-control methods provided in this application.

[0134] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0135] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0136] In the above embodiments, the implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, in the form of a computer program product.

[0137] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

[0138] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

Claims

1. A method for pre-controlling the hoisting attitude of a rigid component, characterized in that, The method includes: Obtain the target orientation of the rigid body component to be hoisted; An error function is constructed based on the first and second conditions. The first condition includes: after the rigid body component is balanced based on the current lifting point, in the inertial coordinate system, the center of gravity of the rigid body component is located directly below the current lifting point. The second condition includes: the actual direction of a specified geometric feature is consistent with the target direction. The specified geometric feature is a geometric element with directional attributes in the body-fixed coordinate system. The actual direction is determined based on the actual rotation matrix and the spatial orientation of the specified geometric feature in the body-fixed coordinate system. The actual rotation matrix is ​​determined by solving the rigid body static equilibrium equation based on the current lifting point coordinates. The target direction is the target spatial orientation of the specified geometric feature in the inertial coordinate system, determined based on the target attitude. The coordinates of the suspension point are iteratively solved based on the error function, and the coordinates of the theoretical suspension point in the body-fixed coordinate system are determined based on the iterative solution results. The coordinates of the suspension point are the coordinates of the current suspension point in the body-fixed coordinate system. The initial coordinates of the suspension point are preset initial coordinates. The coordinates of the suspension point in the next round are obtained by updating the coordinates of the suspension point based on the current error function value. The theoretical suspension point satisfies the following condition: the error function value calculated based on the coordinates of the theoretical suspension point in the body-fixed coordinate system satisfies the preset convergence condition. Based on the coordinates of the theoretical lifting point in the fixed coordinate system, the target lifting point is determined from the surface of the component that meets the welding conditions.

2. The method for pre-controlling the hoisting attitude of rigid components according to claim 1, characterized in that, The first condition is expressed as: In the formula, This represents the x-coordinate of the center of gravity of the rigid body component in the inertial coordinate system. This represents the x-coordinate of the current lifting point in the inertial coordinate system. This represents the y-coordinate of the center of gravity of the rigid body component in the inertial coordinate system. This represents the y-coordinate of the current suspension point in the inertial coordinate system.

3. The method for pre-controlling the hoisting attitude of rigid components according to claim 2, characterized in that, The second condition is expressed as: V i actual V is the actual direction vector, which is used to characterize the actual direction of the specified geometric feature. i target The target direction vector is used to characterize the target direction of the specified geometric feature.

4. The method for pre-controlling the hoisting attitude of rigid components according to claim 3, characterized in that, The error function is expressed as: r P L represents the coordinates of the current suspension point in the body-fixed coordinate system. x L represents the preset x-coordinate difference reference value. y This represents the preset reference value for the y-coordinate difference; The coordinates of the lifting point are iteratively solved based on the error function, including: The coordinates of the suspension point are solved using a Newton-Raphson iteration based on the aforementioned error function; wherein, the coordinates of the suspension point in the (k+1)th iteration are expressed as: , This represents the coordinates of the hoisting point in the k-th iteration. Describe the pseudo-inverse of the Jacobian matrix J. , Let represent the error function of the k-th iteration.

5. The method for pre-controlling the hoisting attitude of a rigid component according to any one of claims 1 to 4, characterized in that, When the rigid component meets the preset single-point lifting conditions, the target lifting point is determined from the surface of the component that meets the welding conditions based on the coordinates of the theoretical lifting point in the fixed coordinate system, including: Calculate the distance between two points on the surface of the rigid member that satisfy the welding conditions. The distance between two points is the distance from the point that satisfies the welding conditions to the theoretical lifting point. The point corresponding to the smallest distance between two points is determined as the target hoisting point.

6. The method for pre-controlling the hoisting attitude of a rigid component according to any one of claims 1 to 4, characterized in that, When the rigid component does not meet the preset single-point lifting conditions, the target lifting point is determined from the surface of the component that meets the welding conditions based on the coordinates of the theoretical lifting point in the body-fixed coordinate system, including: For each combination of lifting points on the surface of the rigid body component that satisfies the welding conditions, calculate the point of application of the resultant force of the n lifting points constituting the current lifting point combination, and calculate the distance between the point of application of the resultant force and the theoretical lifting point; n is an integer greater than 1. The combination of lifting points corresponding to the resultant force application point closest to the theoretical lifting point is determined as the target lifting point combination, and the target lifting point is n lifting points constituting the target lifting point combination.

7. The method for pre-controlling the hoisting attitude of a rigid component according to any one of claims 1 to 4, characterized in that, The rigid component is an L-shaped output device for a transformer.

8. A method and device for pre-controlling the hoisting attitude of a rigid component, characterized in that, include: The input unit is used to obtain the target attitude of the rigid body component to be hoisted; An error function construction unit is used to construct an error function based on the first and second conditions. The first condition includes: after the rigid body component is balanced based on the current lifting point, in the inertial coordinate system, the center of gravity of the rigid body component is located directly below the current lifting point; the second condition includes: the actual direction of a specified geometric feature is consistent with the target direction, the specified geometric feature is a geometric element with directional attributes in the body-fixed coordinate system, the actual direction is determined based on the actual rotation matrix and the spatial orientation of the specified geometric feature in the body-fixed coordinate system, the actual rotation matrix is ​​determined by solving the rigid body static equilibrium equation based on the current lifting point coordinates, and the target direction is the target spatial orientation of the specified geometric feature in the inertial coordinate system, determined based on the target attitude; The suspension point calculation unit is used to iteratively solve the suspension point coordinates based on the error function, and determine the coordinates of the theoretical suspension point in the body-fixed coordinate system based on the iterative solution results. The suspension point coordinates are the coordinates of the current suspension point in the body-fixed coordinate system. The initial suspension point coordinates are preset initial suspension point coordinates. The suspension point coordinates in the next round are obtained by updating the suspension point coordinates based on the current error function value. The theoretical suspension point satisfies the following condition: the error function value calculated based on the coordinates of the theoretical suspension point in the body-fixed coordinate system satisfies a preset convergence condition. The lifting point determination unit is used to determine the target lifting point from the surface of the component that meets the welding conditions based on the coordinates of the theoretical lifting point in the body-fixed coordinate system.

9. An electronic device, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the electronic device can implement the rigid body component hoisting attitude pre-control method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, It includes computer-readable instructions that, when executed on an electronic device, enable the electronic device to implement the rigid body component hoisting attitude pre-control method as described in any one of claims 1 to 7.

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