Mountain wind power anchor bolt adaptive positioning installation intelligent control method and system

Abstract

The present application relates to the field of advanced control technology, in particular to a mountain wind power anchor bolt adaptive positioning installation intelligent control method and system, comprising the following steps: obtaining anchor disc hole position and semi-circular anchor disc arc line data, calculating anchor disc center, generating outer ring circle and anchor bolt column positioning track, converting installation and support offset, generating anchor bolt position adjustment instruction, determining support position, steel wire rope path and safety belt hanging point according to upper anchor disc exhaust hole, generating protection installation instruction. In the present application, by taking the anchor disc center as the unified geometric reference, the anchor bolt positioning, formwork support and edge protection are included in the continuous control chain, the installation offset and the support offset are simultaneously converted into adjustment basis, the hole position error is inhibited from transmitting between the outer ring circle and the anchor bolt column, the anchor bolt correction, support adjustment and protection layout are cooperatively promoted, manual re-measurement, rework waiting and edge operation risk are reduced, and the installation precision, construction continuity and safety under the mountain scene are improved.

Description

Technical Field

[0001] This invention relates to the field of advanced control technology, and in particular to an intelligent control method and system for adaptive positioning and installation of wind turbine anchors in mountainous areas. Background Technology

[0002] Advanced control technology encompasses control implementation methods in industrial production processes, comprising control software, controllers, field actuators, and process data. Among these, the intelligent control for adaptive positioning and installation of mountain wind turbine anchors refers to calculating control quantities based on preset installation process parameters by reading feedback signals from anchor positioning sensors, platform attitude sensors, and drive mechanisms. These control quantities are then converted into drive commands and output to the installation actuators for adaptive installation of the mountain wind turbine anchors.

[0003] The current installation of anchor bolts for mountain wind power relies heavily on manual measurement and on-site experience for calibration. The position of the lower anchor plate hole and the arc of the semi-circular anchor plate are often verified in sections. The center reference is easily affected by the terrain slope and the obstruction of components, and there is a lack of unified coordinate reference for the positioning of the outer ring circle and the anchor bolt column. It is difficult to correct the installation deviation and the formwork support deviation in a timely manner. Construction personnel need to repeatedly re-measure the hole position and the formwork support status, which increases the waiting time and rework frequency. The vent hole of the upper anchor plate is mostly used only as a structural hole. The layout of edge protection and the rhythm of anchor bolt installation are not well coordinated, which can easily lead to the accumulation of positioning errors and operational safety risks. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent control method and system for adaptive positioning and installation of anchor bolts in mountainous wind power projects. By measuring, identifying, and unifying the coordinates of the installation reference information such as the symmetrical bolt holes of the lower anchor plate, the arc of the semi-circular anchor plate, and the vent holes of the upper anchor plate, the center of the anchor plate, the positioning trajectory, the installation offset, and the installation position of the edge protection are determined, thereby forming an anchor bolt positioning and installation control scheme that can adapt to the construction conditions of mountainous wind power foundations.

[0005] To achieve the above objectives, the present invention provides an intelligent control method for adaptive positioning and installation of wind turbine anchors in mountainous areas, comprising the following steps:

[0006] Acquire measurement data of the symmetrical bolt holes and the semi-circular anchor plate of the lower anchor plate to determine the positions of the symmetrical bolt holes and the arc position of the semi-circular anchor plate. Based on these positions, determine the center of the anchor plate and generate the foundation outer ring positioning trajectory and anchor bolt column positioning trajectory. For the foundation outer ring positioning trajectory and the anchor bolt column positioning trajectory, determine the installation offset of the anchor bolt assembly and the positioning offset of the formwork support. Generate anchor bolt position adjustment instructions based on these offsets. Acquire the position of the vent hole of the upper anchor plate and determine the installation position of the L-shaped bracket, the wire rope connection path, and the safety belt attachment point position based on this position. Generate edge protection installation instructions. Determine the anchor bolt positioning and installation control scheme based on the anchor bolt position adjustment instructions and the edge protection installation instructions.

[0007] Further, when determining the positions of the symmetrical bolt holes of the lower anchor plate and the arc position of the semi-circular anchor plate, the edge coordinate data of the lower anchor plate holes collected by a total station or laser rangefinder are obtained. The edge coordinate data of the relatively arranged holes are filtered according to the bolt hole numbering relationship. The hole contour is fitted to the filtered hole edge coordinate data to obtain the candidate center points of the bolt holes. Based on the continuity of the sampling points of the outer arc edge of the semi-circular anchor plate, the sampling points with a sampling interval exceeding the preset arc segment spacing threshold are removed. The remaining outer arc edge sampling points are fitted with arcs to generate the candidate arc trajectory of the semi-circular anchor plate. The candidate center points of the bolt holes and the candidate arc trajectory of the semi-circular anchor plate are registered in the same measurement coordinate system to locate and output the positions of the symmetrical bolt holes of the lower anchor plate and the arc position of the semi-circular anchor plate.

[0008] Furthermore, the hole contour fitting includes: acquiring at least three hole edge measuring points corresponding to each hole position in the hole edge coordinate data, calculating the radial deviation of each hole edge measuring point relative to the fitting circle of the same hole position, and marking the hole edge measuring points with radial deviations greater than a preset hole edge deviation threshold as abnormal measuring points; after removing the abnormal measuring points, re-determining the hole position fitting circle, and determining the center of the re-determined hole position fitting circle as the candidate center point of the bolt hole; when the number of hole edge measuring points retained at the same hole position is lower than a preset effective measuring point number threshold, re-triggering the hole edge coordinate data acquisition of the corresponding hole position, and updating the candidate center point of the bolt hole.

[0009] Furthermore, when generating the basic outer ring circular positioning trajectory and the anchor bolt column positioning trajectory, the paired hole center lines corresponding to the symmetrical bolt hole positions of the lower anchor plate are obtained, and the midpoint of the hole center line is determined based on each pair of hole center lines. The midpoints of multiple hole center lines are filtered for deviation to obtain candidate points for the anchor plate center. The arc fitting trajectory corresponding to the semi-circular anchor plate arc position is obtained, and the arc curvature center point is determined based on the arc fitting trajectory. The distance consistency between the candidate points for the anchor plate center and the arc curvature center point is judged to generate the anchor plate center. The initial outer ring radius and the initial column radius are read based on the anchor plate center, and the initial outer ring radius and the initial column radius are mapped in the same coordinate system to obtain the basic outer ring circular positioning trajectory and the anchor bolt column positioning trajectory.

[0010] As a further refinement of the anchor plate center determination process, the endpoints and mid-section measuring points of the semi-circular anchor plate arc are obtained. An arc chord reference line is determined based on the line connecting the endpoints of the arc, and the vertical offset direction of the mid-section measuring point relative to the arc chord reference line is calculated. The orientation of the semi-circular anchor plate is determined based on the vertical offset direction, and candidate center regions consistent with the positions of the symmetrical bolt holes of the lower anchor plate are selected according to the orientation of the semi-circular anchor plate, resulting in a restricted center search region. Within the restricted center search region, the anchor plate center candidate points are matched with the arc curvature center. When the matching deviation meets a preset center matching threshold, the anchor plate center is output.

[0011] Furthermore, when generating the anchor bolt position adjustment command, the layout trajectory points corresponding to the foundation outer ring circle positioning trajectory and the anchor bolt column positioning trajectory are obtained, and the measured center point of the anchor bolt assembly and the measured boundary point of the formwork support are collected. The measured center point of the anchor bolt assembly is projected onto the anchor bolt column positioning trajectory to obtain the installation offset of the anchor bolt assembly; the measured boundary point of the formwork support is projected onto the foundation outer ring circle positioning trajectory, and the projection deviation is decomposed according to the radial offset direction and the circumferential offset direction to obtain the positioning offset of the formwork support; based on the installation offset of the anchor bolt assembly and the positioning offset of the formwork support, the position adjustment direction, adjustment distance and adjustment object are determined, and the anchor bolt position adjustment command is generated.

[0012] As an additional constraint for generating the anchor bolt position adjustment command, the adjustment direction, adjustment distance, and adjustment object corresponding to the anchor bolt assembly installation offset and the formwork support positioning offset are obtained. The adjustment priority of the anchor bolt assembly and the formwork support are determined according to the set adjustment priority. When the adjustment priority of the anchor bolt assembly is higher than that of the formwork support, an anchor bolt priority adjustment field is generated according to the anchor bolt assembly installation offset, and the formwork support positioning offset is written into the review adjustment record. When the adjustment priority of the formwork support is higher than that of the anchor bolt assembly, a support priority adjustment record is generated according to the formwork support positioning offset, and the anchor bolt position adjustment command is output.

[0013] Furthermore, when generating the edge protection installation instruction, the location of the upper anchor plate vent hole and the reference line of the upper anchor plate's outer edge are obtained. The location of the upper anchor plate vent hole is converted to the construction and installation coordinate system, and installable vent holes are selected according to the radial distance between the vent hole and the outer edge of the upper anchor plate. Based on the installable vent holes, the installation position of the L-shaped bracket is determined, and a wire rope series path is established according to the spatial adjacency order between adjacent L-shaped bracket installation positions. According to the endpoint positions of adjacent bracket segments in the wire rope series path, the vent hole positions located inside the bracket segment and meeting the preset hanging point spacing threshold are selected, the safety belt hanging point positions are determined, and the edge protection installation instruction is generated.

[0014] Furthermore, when determining the anchor bolt positioning and installation control scheme, the adjustment direction, adjustment distance, adjustment object, and verification adjustment record in the anchor bolt position adjustment instruction are obtained, and the bracket installation, wire rope connection, and safety belt attachment point in the edge protection installation instruction are obtained, and a work instruction table is established. According to the installation dependencies in the work instruction table, the protection installation actions corresponding to the edge protection installation instruction are sorted before the anchor bolt assembly adjustment actions, and the template support adjustment actions are sorted before the template verification adjustment, generating an installation execution sequence. Based on the installation execution sequence, the adjustment distance, and the verification adjustment record, control nodes, node triggering conditions, and node pass status are established, and the anchor bolt positioning and installation control scheme is output. The control node and the node triggering condition are as follows: the protective installation node, anchor bolt adjustment node, template support node, and retest confirmation node are determined sequentially according to the installation execution order, and a corresponding execution object and allowed execution status are written for each control node; the completion status of the protective installation node is determined as the node triggering condition of the anchor bolt adjustment node, and the adjusted offset of the anchor bolt adjustment node is determined as not being greater than the corresponding allowed offset threshold as the node triggering condition of the template support node; the retest offset collected by the retest confirmation node is compared with the corresponding allowed offset threshold, and when the retest offset is not greater than the corresponding allowed offset threshold, the node is determined to be in a passed state.

[0015] This invention also provides an intelligent control system for adaptive positioning and installation of wind turbine anchors in mountainous areas. The system, used to implement the above-mentioned method, includes an anchor plate measurement module, a center trajectory generation module, an offset control module, an edge protection planning module, and a scheme decision module. The anchor plate measurement module acquires measurement data of the symmetrical bolt holes and the semi-circular anchor plate, determining the positions of the symmetrical bolt holes and the arc position of the semi-circular anchor plate. The center trajectory generation module, connected to the anchor plate measurement module, determines the anchor plate center based on the positions of the symmetrical bolt holes and the arc position of the semi-circular anchor plate, and generates the foundation outer ring positioning trajectory and the anchor bolt column positioning trajectory based on the anchor plate center. The offset control module, connected to the center trajectory generation module, determines the anchor bolt assembly based on the foundation outer ring positioning trajectory and the anchor bolt column positioning trajectory. The installation offset and template support positioning offset are used to generate anchor bolt position adjustment instructions. The edge protection planning module is connected to the offset control module to obtain the position of the upper anchor plate vent hole, and determines the L-shaped bracket installation position, wire rope series path, and safety belt attachment point position based on the upper anchor plate vent hole position, generating edge protection installation instructions. The scheme decision module is connected to the edge protection planning module to determine the anchor bolt positioning and installation control scheme according to the anchor bolt position adjustment instructions and the edge protection installation instructions.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0017] In this invention, a circular reference is established around the symmetrical holes of the lower anchor plate and the arc of the semi-circular anchor plate. The outer ring of the foundation and the anchor bolt column are included in the same positioning trajectory. The installation offset and the template support offset are synchronously converted under a unified reference. The position adjustment command can directly point to the anchor bolt assembly and the support structure for coordinated correction, avoiding the spread of the lag in the template support traction hole position deviation, reducing manual retesting and rework waiting. The error transmission caused by the circular center offset is cut off in time. The upper anchor plate vent hole is further transformed into a protective installation reference. The bracket position, wire rope path and safety belt hanging point are determined synchronously with the anchor bolt operation. The positioning accuracy, construction continuity and edge protection reliability are improved simultaneously. Attached Figure Description

[0018] Figure 1 This is a flowchart of the main process for the adaptive positioning and installation of wind turbine anchors in mountainous areas according to the present invention.

[0019] Figure 2 This is a partial flowchart of the anchor plate measurement and center trajectory generation of the present invention;

[0020] Figure 3 A data flow diagram is generated for the anchor bolt position adjustment command of this invention;

[0021] Figure 4This is a diagram showing the state transition between the edge protection installation instructions and control nodes of the present invention.

[0022] Figure 5 This is a block diagram of the collaborative logic of the intelligent control system module of the present invention. Detailed Implementation

[0023] The following describes feasible implementation methods and systems for adaptive positioning and installation of wind turbine anchors in mountainous areas, based on the technical solutions described in this invention and the original disclosure materials. The following content is based on the measurement objects, data names, processing results, control commands, control nodes, and system modules already disclosed in the protection scope text, used to illustrate the data sources, processing relationships, execution order, and output inheritance relationships between various technical objects. The main steps are represented by S1 to S5, and are consistent with the main steps of the method in the independent protection project; the detailed content within the main steps is represented by corresponding sub-steps.

[0024] Example 1

[0025] Please see Figures 1 to 4 This embodiment provides an intelligent control method for adaptive positioning and installation of anchor bolts in mountainous wind power projects. This method takes the lower anchor plate, semi-circular anchor plate, anchor bolt assembly, formwork support, and upper anchor plate venting hole in mountainous wind power foundation construction as the processing objects. Through coordinate measurement, arc fitting, center matching, trajectory mapping, offset projection, installation priority ranking, and control node status determination, a closed-loop process is formed from measurement input to installation control scheme output.

[0026] S1. Obtain the measurement data of the symmetrical bolt holes of the lower anchor plate and the measurement data of the semi-circular anchor plate, and determine the position of the symmetrical bolt holes of the lower anchor plate and the position of the arc of the semi-circular anchor plate.

[0027] The input to S1 includes the coordinate data of the lower anchor plate hole edge and the sampling points of the outer arc edge of the semi-circular anchor plate. The coordinate data of the lower anchor plate hole edge is collected by a total station or laser rangefinder, and the collection results are entered into the hole position processing process as hole edge measurement points in the same measurement coordinate system; the sampling points of the outer arc edge of the semi-circular anchor plate are entered into the arc processing process as continuous sampling points. The symmetrical bolt hole positions of the lower anchor plate and the arc position of the semi-circular anchor plate output by S1 serve as the basic data for subsequent determination of the anchor plate center.

[0028] S111. Acquire the edge coordinate data of the lower anchor plate holes collected by a total station or laser rangefinder, and filter the edge coordinate data of the relatively arranged holes according to the bolt hole numbering relationship. The filtering action is triggered by the bolt hole numbering relationship, the filtering object is the hole edge measuring points corresponding to the relatively arranged hole positions, and the filtering output is the edge coordinate data of the hole positions in pairs.

[0029] S112. Perform hole contour fitting on the filtered hole edge coordinate data to obtain candidate bolt hole center points. Hole contour fitting takes at least three hole edge measuring points corresponding to each hole position as input and calculates the radial deviation of each hole edge measuring point relative to the fitted circle of the same hole position. When the radial deviation is greater than the preset hole edge deviation threshold, the corresponding hole edge measuring point is marked as an abnormal measuring point. After removing abnormal measuring points, the hole position fitted circle is re-determined, and the center of the re-determined hole position fitted circle is determined as the candidate bolt hole center point. If the number of hole edge measuring points retained for the same hole position is less than the preset effective measuring point number threshold, the hole edge coordinate data acquisition for the corresponding hole position is re-triggered, and the candidate bolt hole center point is regenerated with the updated hole edge coordinate data.

[0030] S113. Based on the continuity of the sampling points on the outer arc edge of the semicircular anchor plate, sampling points with a sampling interval exceeding the preset arc segment spacing threshold are removed. The remaining outer arc edge sampling points are then fitted with an arc to generate candidate arc trajectories for the semicircular anchor plate. The input to this process is the sampling points on the outer arc edge of the semicircular anchor plate, the judgment object is the sampling interval between adjacent sampling points, and the output is the candidate arc trajectory of the semicircular anchor plate after removing discontinuous sampling points.

[0031] S114. Register the candidate bolt hole center points with the candidate trajectory of the semi-circular anchor plate arc using the same measurement coordinate system, and output the positions of the symmetrical bolt holes and the semi-circular anchor plate arc of the lower anchor plate. The registered positions of the symmetrical bolt holes of the lower anchor plate are used to form the midpoint of the line connecting the hole centers, and the registered positions of the semi-circular anchor plate arc are used to form the center point of the arc curvature.

[0032] S2. Based on the symmetrical bolt hole positions of the lower anchor plate and the arc position of the semi-circular anchor plate, determine the center of the anchor plate, and generate the positioning trajectory of the outer ring of the foundation and the positioning trajectory of the anchor bolt column based on the center of the anchor plate.

[0033] The input to S2 comes from the symmetrical bolt hole positions of the lower anchor plate and the arc position of the semi-circular anchor plate output from S1. This step ensures consistency between the geometric center relationship of the symmetrical hole positions and the curvature center relationship of the outer arc of the semi-circular anchor plate, forming the anchor plate center. Subsequently, using the anchor plate center as the coordinate reference, the initial outer ring radius and the initial column radius are read, and the foundation outer ring circular positioning trajectory and the anchor bolt column positioning trajectory are generated in the same coordinate system. The foundation outer ring circular positioning trajectory is used for calculating the positioning offset of the formwork support, and the anchor bolt column positioning trajectory is used for calculating the installation offset of the anchor bolt assembly.

[0034] S211. Obtain the pair of hole center lines corresponding to the symmetrical bolt hole positions of the lower anchor plate, and determine the midpoint of each pair of hole center lines. The midpoint of each pair of hole center lines comes from the candidate center points of two relatively arranged bolt holes. After deviation screening, the candidate center point of the anchor plate is obtained from the midpoints of multiple hole center lines.

[0035] S212. Obtain the arc fitting trajectory corresponding to the arc position of the semi-circular anchor plate, and determine the arc curvature center point based on the arc fitting trajectory. The arc curvature center point and the candidate anchor plate center point enter the distance consistency judgment; when the distance deviation between the two meets the consistency judgment condition, the anchor plate center is generated.

[0036] S213. During the process of determining the center of the anchor plate, obtain the endpoints and mid-section measuring points of the arc in the semi-circular anchor plate arc position. Determine the arc chord reference line based on the line connecting the endpoints of the arc, and calculate the vertical offset direction of the mid-section measuring point relative to the arc chord reference line. This vertical offset direction is used to determine the orientation of the semi-circular anchor plate, avoiding the opposite direction of the semi-circular arc being mistakenly taken as the center search direction.

[0037] S214. Determine the orientation of the semi-circular anchor plate based on the vertical offset direction, and filter candidate areas for the center that are consistent with the position of the symmetrical bolt holes of the lower anchor plate according to the orientation of the semi-circular anchor plate, thus obtaining a restricted center search area. Match the candidate anchor plate center point with the center of curvature of the arc within the restricted center search area. When the matching deviation meets the preset center matching threshold, output the anchor plate center. If the matching deviation does not meet the preset center matching threshold, the candidate matching relationship will not enter the anchor plate center output state.

[0038] S215. Using the anchor plate center as a reference, read the initial outer ring radius and the initial column radius. Map the initial outer ring radius and the initial column radius in the same coordinate system to obtain the positioning trajectory of the foundation outer ring circle and the positioning trajectory of the anchor bolt column. The positioning trajectory of the foundation outer ring circle forms a subsequent projection relationship with the measured boundary points of the formwork support, and the positioning trajectory of the anchor bolt column forms a subsequent projection relationship with the measured center point of the anchor bolt assembly.

[0039] S3. Based on the positioning trajectory of the outer ring of the foundation and the positioning trajectory of the anchor bolt column, determine the installation offset of the anchor bolt assembly and the positioning offset of the formwork support, and generate the anchor bolt position adjustment command based on the installation offset of the anchor bolt assembly and the positioning offset of the formwork support.

[0040] The inputs for S3 include the positioning trajectory of the foundation outer ring circle, the positioning trajectory of the anchor bolt column, the layout trajectory points, the measured center point of the anchor bolt assembly, and the measured boundary points of the formwork support. This step first projects the measured object onto the corresponding positioning trajectory, then converts the projection deviation into adjustment direction, adjustment distance, and adjustment object, and finally outputs the anchor bolt position adjustment command according to the adjustment priority. The anchor bolt position adjustment command serves as the input for S5 to establish the work instruction table and control nodes.

[0041] S311. Obtain the layout trajectory points corresponding to the positioning trajectory of the foundation outer ring circle and the anchor bolt column, and collect the measured center point of the anchor bolt assembly and the measured boundary point of the formwork support. The layout trajectory points serve as executable references for the positioning trajectory, the measured center point of the anchor bolt assembly reflects the current installation position of the anchor bolt assembly, and the measured boundary point of the formwork support reflects the current boundary position of the formwork support.

[0042] S312. Project the measured center point of the anchor bolt assembly onto the anchor bolt column positioning trajectory to obtain the installation offset of the anchor bolt assembly. This offset includes at least the deviation direction and deviation distance before and after projection, and its object is the anchor bolt assembly. The installation offset of the anchor bolt assembly is then used for adjustment priority judgment and anchor bolt adjustment node determination.

[0043] S313. Project the measured boundary points of the formwork support onto the positioning trajectory of the outer ring circle of the foundation, and decompose the projection deviation according to the radial and circumferential offset directions to obtain the positioning offset of the formwork support. The positioning offset of the formwork support includes radial offset components and circumferential offset components, and its object is the formwork support. It is subsequently used for support pre-adjustment records or verification adjustment records.

[0044] S314. Based on the installation offset of the anchor bolt assembly and the positioning offset of the formwork support, determine the position adjustment direction, adjustment distance, and adjustment object, and generate the anchor bolt position adjustment command. The position adjustment direction comes from the directional component of the corresponding offset, the adjustment distance comes from the deviation distance of the corresponding offset, and the adjustment object is the anchor bolt assembly or the formwork support.

[0045] S315. Obtain the adjustment direction, adjustment distance, and adjustment object corresponding to the installation offset of the anchor bolt assembly and the positioning offset of the formwork support. Determine the adjustment priority of the anchor bolt assembly and the formwork support according to the set adjustment priority. When the adjustment priority of the anchor bolt assembly is higher than that of the formwork support, generate an anchor bolt priority adjustment field according to the installation offset of the anchor bolt assembly, and write the formwork support positioning offset into the review adjustment record. When the adjustment priority of the formwork support is higher than that of the anchor bolt assembly, generate a support priority adjustment record according to the formwork support positioning offset, and output the anchor bolt position adjustment command. If the adjustment priority hits the adjustment conditions of both the anchor bolt assembly and the formwork support, the set adjustment priority is used as the basis for conflict resolution, and the offsets that are not executed first enter the review adjustment record or the subsequent retest confirmation stage.

[0046] S4. Obtain the location of the upper anchor plate vent hole, determine the L-shaped bracket installation position, wire rope connection path and safety belt attachment point position based on the location of the upper anchor plate vent hole, and generate the edge protection installation command.

[0047] The inputs for S4 are the location of the upper anchor plate vent hole and the reference line of the upper anchor plate's outer edge. This step first converts the upper anchor plate vent hole location to the construction and installation coordinate system, and then filters installable vent holes based on the radial distance between the vent hole and the outer edge of the upper anchor plate. Installable vent holes are used to determine the installation position of the L-shaped bracket and further generate the wire rope connection path and safety belt attachment point position. The edge protection installation command serves as the input to the protection installation node in S5, and its completion status serves as the trigger condition for the anchor bolt adjustment node.

[0048] S411. Obtain the location of the vent hole on the upper anchor plate and the reference line of the outer edge of the upper anchor plate, and convert the location of the vent hole to the construction and installation coordinate system. After the coordinate conversion, the location of the vent hole on the upper anchor plate is comparable to the reference line of the outer edge of the upper anchor plate, which is used to calculate the radial distance between the vent hole and the outer edge of the upper anchor plate.

[0049] S412. Select installable vent holes according to the radial distance between the vent hole and the outer edge of the upper anchor plate. The selected installable vent holes are then used in the L-shaped bracket installation position determination process; vent holes that do not meet the radial distance selection criteria are not used as the basis for the L-shaped bracket installation position.

[0050] S413. Determine the installation position of the L-shaped bracket based on the installable vent holes, and establish a wire rope series path according to the spatial adjacency order between adjacent L-shaped bracket installation positions. The nodes of the wire rope series path are derived from the adjacent L-shaped bracket installation positions, and the connection order is derived from the spatial adjacency order between adjacent brackets.

[0051] S414. Based on the endpoint positions of adjacent support segments in the wire rope series path, select vent locations located inside the support segment that meet the preset hanging point spacing threshold to determine the safety belt hanging point positions. The safety belt hanging point positions, together with the L-shaped support installation position and the wire rope series path, form the edge protection installation instruction. This instruction includes three types of execution objects: support installation, wire rope connection, and safety belt hanging points, and is used to complete the protection installation action before the anchor bolt assembly adjustment action.

[0052] S5. Determine the anchor bolt positioning and installation control scheme based on the anchor bolt position adjustment instructions and the edge protection installation instructions.

[0053] The inputs to S5 include the adjustment direction, adjustment distance, adjustment object, and verification adjustment record in the anchor bolt position adjustment command, as well as the bracket installation, wire rope connection, and safety belt attachment point in the edge protection installation command. This step transforms the installation dependencies into the installation execution sequence, and converts the installation execution sequence, adjustment distance, and verification adjustment record into control nodes, node triggering conditions, and node pass status, outputting the anchor bolt positioning and installation control scheme.

[0054] S511. Obtain the adjustment direction, adjustment distance, adjustment object, and verification adjustment record from the anchor bolt position adjustment instruction, and obtain the bracket installation, wire rope connection, and safety belt attachment point from the edge protection installation instruction, and establish a work instruction table. The fields in the work instruction table must include at least the execution object, execution action, adjustment distance or connection object, triggering condition, and verification record acceptance location. Execution objects include anchor bolt assemblies, formwork support, L-shaped brackets, wire ropes, and safety belt attachment points.

[0055] S512. Based on the installation dependencies in the work instruction table, prioritize the edge protection installation actions corresponding to the edge protection installation instructions before the anchor bolt assembly adjustment actions, and prioritize the formwork support adjustment actions before the formwork verification adjustment actions, thus generating the installation execution sequence. The installation execution sequence is used to constrain the triggering order of subsequent control nodes, preventing the anchor bolt adjustment node from being entered before the protection installation is completed.

[0056] S513. Based on the installation execution sequence, adjustment distance, and verification adjustment records, establish control nodes, node trigger conditions, and node pass status, and output the anchor bolt positioning installation control scheme. The control nodes are sequentially determined according to the installation execution sequence as the protective installation node, anchor bolt adjustment node, formwork support node, and verification confirmation node, and a corresponding execution object and allowed execution status are written for each control node. The execution object of the protective installation node corresponds to bracket installation, wire rope connection, and safety belt attachment point; the execution object of the anchor bolt adjustment node corresponds to the anchor bolt assembly; the execution object of the formwork support node corresponds to the formwork support; and the execution object of the verification confirmation node corresponds to both the anchor bolt assembly and the formwork support.

[0057] S514. Dynamically configure the mutual triggering conditions between nodes according to the priority relationship determined in S315. If the protection installation node has not reached the completion state, the anchor bolt adjustment node will not enter the allowed execution state; if the adjusted offset of the anchor bolt adjustment node is greater than the corresponding allowed offset threshold, the formwork support node will not enter the allowed execution state, and the corresponding offset will be retained for review of the adjustment record or readjustment.

[0058] S515. Compare the re-measurement offset collected by the re-measurement confirmation node with the corresponding allowable offset threshold. When the re-measurement offset is not greater than the corresponding allowable offset threshold, the node is determined to be in the pass state. The re-measurement offset comes from the collection results of the re-measurement confirmation node, and the corresponding allowable offset threshold comes from the system's preset parameter standard, and is used to determine whether the node has entered the pass state. The node pass state serves as an observable output state indicating the completion of the anchor bolt positioning and installation control scheme.

[0059] During the operation of the above method, if the number of measuring points at the hole edge is insufficient, the sampling points at the outer arc edge of the semi-circular anchor plate are discontinuous, the center matching deviation does not meet the preset center matching threshold, the projection deviation fails to form an executable adjustment direction, the vent hole does not meet the radial spacing screening condition, or the adjusted offset is greater than the corresponding allowable offset threshold or the re-measured offset is greater than the corresponding allowable offset threshold, the corresponding data will not directly enter the next execution node. Instead, it will return to the state of re-collection, re-matching, re-projection, re-screening, or readjustment according to its main step. This abnormal return state does not add a new main step, but serves as a verifiable processing boundary within the corresponding main step.

[0060] Example 2

[0061] Please see Figure 1 and Figure 5 This embodiment provides an intelligent control system for adaptive positioning and installation of anchor bolts in mountainous wind power applications. The difference between this embodiment and Embodiment 1 is that this embodiment uses a modular collaborative approach to implement the method flow described in Embodiment 1. The modules transmit data and control results in the order of measurement input, center trajectory generation, offset adjustment, edge protection planning, and scheme decision-making. The output object is the anchor bolt positioning and installation control scheme.

[0062] The system includes an anchor plate measurement module, a center trajectory generation module, an offset control module, an edge protection planning module, and a scheme decision module. The anchor plate measurement module acquires measurement data of the symmetrical bolt holes on the lower anchor plate and the semi-circular anchor plate, and determines the positions of the symmetrical bolt holes on the lower anchor plate and the arc position of the semi-circular anchor plate. The input to the anchor plate measurement module is the coordinate data of the lower anchor plate hole edges and the sampling points of the outer arc edge of the semi-circular anchor plate. Its internal processing includes filtering of the relative arrangement of hole edge coordinate data, hole contour fitting, removal of abnormal measurement points, continuity processing of the outer arc edge sampling points, and registration with the same measurement coordinate system. The anchor plate measurement module outputs the positions of the symmetrical bolt holes on the lower anchor plate and the arc position of the semi-circular anchor plate, and transmits this output to the center trajectory generation module.

[0063] The center trajectory generation module and the offset control module are used to determine the anchor plate center based on the symmetrical bolt hole positions and the semi-circular anchor plate arc position, and to generate the foundation outer ring circle positioning trajectory and the anchor bolt column positioning trajectory based on the anchor plate center. The center trajectory generation module receives the bolt hole positions and arc positions output by the anchor plate measurement module, forming the midpoint of the line connecting paired hole centers, the anchor plate center candidate point, the arc curvature center point, and the restricted center search area. It outputs the anchor plate center through distance consistency judgment and matching deviation judgment. The center trajectory generation module further reads the initial outer ring radius and the initial column radius, maps them in the same coordinate system to generate the foundation outer ring circle positioning trajectory and the anchor bolt column positioning trajectory, and then transmits both types of positioning trajectories to the offset control module.

[0064] The offset control module is connected to the center trajectory generation module. It determines the installation offset of the anchor bolt assembly and the positioning offset of the formwork support based on the foundation outer ring circular positioning trajectory and the anchor bolt column positioning trajectory. It then generates anchor bolt position adjustment commands based on these offsets. The offset control module receives the foundation outer ring circular positioning trajectory, the anchor bolt column positioning trajectory, and the corresponding layout trajectory points. It also receives the measured center point of the anchor bolt assembly and the measured boundary point of the formwork support. The offset control module projects the measured center point of the anchor bolt assembly onto the anchor bolt column positioning trajectory and outputs the installation offset of the anchor bolt assembly. It projects the measured boundary point of the formwork support onto the foundation outer ring circular positioning trajectory, decomposes the radial and circumferential offset directions, and outputs the positioning offset of the formwork support. The offset control module generates anchor bolt priority adjustment fields, support priority adjustment records, or verification adjustment records according to the set adjustment priority, and outputs anchor bolt position adjustment commands.

[0065] The edge protection planning module is connected to the anchor plate measurement module to obtain the location of the upper anchor plate's vent hole. Based on the location of the upper anchor plate's vent hole, it determines the installation location of the L-shaped bracket, the wire rope connection path, and the safety belt attachment point location, generating edge protection installation instructions. The edge protection planning module receives the upper anchor plate's vent hole location and the upper anchor plate's outer edge reference line, converts the upper anchor plate's vent hole location to the construction and installation coordinate system, and filters for installable vent holes according to the radial distance between the vent hole and the outer edge of the upper anchor plate. Based on the installable vent holes, the edge protection planning module determines the L-shaped bracket installation location, establishes the wire rope connection path according to the spatial adjacency order between adjacent L-shaped bracket installation locations, determines the safety belt attachment point location based on the endpoint positions of adjacent bracket sections, and outputs the edge protection installation instructions.

[0066] The scheme decision module connects to the edge protection planning module and is used to determine the anchor bolt positioning and installation control scheme based on the anchor bolt position adjustment instructions and edge protection installation instructions. The scheme decision module receives the adjustment direction, adjustment distance, adjustment object, and verification adjustment record from the anchor bolt position adjustment instructions, and receives the bracket installation, wire rope connection, and safety belt attachment points from the edge protection installation instructions. The scheme decision module establishes a work instruction table, generates the installation execution sequence based on installation dependencies, and establishes protection installation nodes, anchor bolt adjustment nodes, formwork support nodes, and re-measurement confirmation nodes. The scheme decision module uses the completion status of the protection installation node as the node trigger condition for the anchor bolt adjustment node, and uses the post-adjustment offset of the anchor bolt adjustment node not exceeding the corresponding allowable offset threshold as the node trigger condition for the formwork support node. In the re-measurement confirmation node, the re-measured offset is compared with the corresponding allowable offset threshold, and the anchor bolt positioning and installation control scheme is output based on the node's pass status.

[0067] The modules in the above system can be connected sequentially according to the data flow, or they can be implemented collaboratively by the same control carrier or multiple control carriers while keeping the input data items, output data items, and triggering conditions unchanged. The data names transmitted between modules remain consistent: the symmetrical bolt hole positions of the lower anchor plate and the arc position of the semi-circular anchor plate output by the anchor plate measurement module enter the center trajectory generation module; the foundation outer ring circle positioning trajectory and anchor bolt column positioning trajectory output by the center trajectory generation module enter the offset control module; the anchor bolt position adjustment command output by the offset control module enters the scheme decision module; and the edge protection installation command output by the edge protection planning module enters the scheme decision module. When data is missing, data does not meet threshold conditions, or a node fails to pass, the module does not disguise the abnormal state as a passed state, but instead returns to the corresponding module for re-acquisition, re-matching, re-projection, re-filtering, or readjustment processing.

[0068] The specific processes, data names, processing order, judgment conditions, threshold calls, module collaboration, and node states described in the above embodiments are only used to illustrate the possible implementations of the present invention and should not limit the present invention to the specific embodiments listed. Without departing from the technical solutions described in the present invention, any equivalent substitutions, equivalent modifications, equivalent combinations, order adjustments, corresponding module replacements, equivalent transformations of field names, equivalent acceptance of the execution subject, or equivalent changes in the carrier form that can be conceived by those skilled in the art should fall within the scope of protection of this patent; however, they should not be extended to unclaimed topics, nor should the substantive correspondence of the technical objects be changed through changes in reference numerals.

Claims

1. A smart control method for adaptive positioning and installation of wind turbine anchors in mountainous areas, characterized in that, Includes the following steps: Obtain measurement data of the symmetrical bolt holes of the lower anchor plate and the semi-circular anchor plate to determine the position of the symmetrical bolt holes of the lower anchor plate and the position of the arc of the semi-circular anchor plate. Based on the symmetrical bolt hole positions of the lower anchor plate and the arc position of the semi-circular anchor plate, the center of the anchor plate and the arc fitting trajectory are determined, and the positioning trajectory of the outer ring of the foundation and the positioning trajectory of the anchor bolt column are generated based on the center of the anchor plate. Based on the positioning trajectory of the outer ring of the foundation and the positioning trajectory of the anchor bolt column, determine the installation offset of the anchor bolt assembly and the positioning offset of the template support, and generate an anchor bolt position adjustment command based on the installation offset of the anchor bolt assembly and the positioning offset of the template support; Obtain the location of the upper anchor plate vent hole, determine the L-shaped bracket installation position, wire rope connection path and safety belt attachment point position based on the location of the upper anchor plate vent hole, and generate an edge protection installation command; Based on the anchor bolt position adjustment instruction and the edge protection installation instruction, a work instruction table is established, and based on the installation dependencies in the work instruction table, an anchor bolt positioning and installation control scheme is determined.

2. The intelligent control method for adaptive positioning and installation of wind turbine anchors in mountainous areas according to claim 1, characterized in that, The steps for determining the positions of the symmetrical bolt holes on the lower anchor plate and the arc position of the semi-circular anchor plate include: Acquire the anchor plate hole edge coordinate data collected by a total station or laser rangefinder, and filter the relatively arranged hole edge coordinate data according to the bolt hole number relationship. Fit the hole contour to the filtered hole edge coordinate data to obtain the candidate center point of the bolt hole. Based on the continuity of the sampling points on the outer arc edge of the semicircular anchor plate, sampling points with a sampling interval exceeding the preset arc segment spacing threshold are removed, and the remaining outer arc edge sampling points are fitted with arc lines to generate candidate arc trajectories for the semicircular anchor plate. The candidate center point of the bolt hole and the candidate trajectory of the semi-circular anchor plate arc are registered in the same measurement coordinate system, and the positions of the symmetrical bolt holes of the lower anchor plate and the arc position of the semi-circular anchor plate are located and output.

3. The intelligent control method for adaptive positioning and installation of wind turbine anchors in mountainous areas according to claim 2, characterized in that, The hole contour fitting specifically involves: At least three hole edge measuring points corresponding to each hole position in the hole edge coordinate data are obtained to fit the hole contour, and the radial deviation of each hole edge measuring point relative to the fitted circle of the same hole position is calculated. Hole edge measuring points whose radial deviation is greater than a preset hole edge deviation threshold are marked as abnormal measuring points. After removing the abnormal measuring points, the hole position fitting circle is re-determined, and the center of the re-determined hole position fitting circle is determined as the candidate point of the bolt hole center. When the number of hole edge measuring points retained at the same hole position is lower than the preset effective measuring point number threshold, the hole edge coordinate data acquisition of the corresponding hole position is re-triggered to update the candidate center point of the bolt hole.

4. The intelligent control method for adaptive positioning and installation of wind turbine anchors in mountainous areas according to claim 1, characterized in that, The steps for generating the basic outer ring circle positioning trajectory and the anchor bolt column positioning trajectory include: Obtain the line connecting the center of the pairs of bolt holes corresponding to the positions of the symmetrical bolt holes of the lower anchor plate, and determine the midpoint of the line connecting the center of the bolt holes based on each pair of line connecting the center of the bolt holes. Perform deviation screening on the midpoints of multiple line connecting the center of the bolt holes to obtain the candidate points of the center of the anchor plate. Obtain the arc fitting trajectory corresponding to the arc position of the semi-circular anchor plate, and determine the arc curvature center point based on the arc fitting trajectory. Then, determine the distance consistency between the candidate anchor plate center point and the arc curvature center point to generate the anchor plate center. Using the center of the anchor plate as a reference, the initial outer ring radius and the initial column radius are read. The initial outer ring radius and the initial column radius are mapped in the same coordinate system to obtain the positioning trajectory of the foundation outer ring circle and the positioning trajectory of the anchor bolt column.

5. The intelligent control method for adaptive positioning and installation of wind turbine anchors in mountainous areas according to claim 4, characterized in that, The steps for determining the center of the anchor plate include: Obtain the endpoints and mid-section measuring points of the arc in the semi-circular anchor plate arc position, determine the arc chord reference line based on the line connecting the endpoints of the arc, and calculate the vertical offset direction of the mid-section measuring point of the arc relative to the arc chord reference line. The orientation of the semicircular anchor plate is determined based on the vertical offset direction, and candidate areas of the center that are consistent with the position of the symmetrical bolt holes of the lower anchor plate are selected according to the orientation of the semicircular anchor plate to obtain the restricted center search area. Within the restricted center search area, match the anchor disk center candidate point with the arc curvature center. When the matching deviation meets the preset center matching threshold, output the anchor disk center.

6. The intelligent control method for adaptive positioning and installation of wind turbine anchors in mountainous areas according to claim 1, characterized in that, The steps for generating anchor bolt position adjustment instructions include: Obtain the layout trajectory points corresponding to the positioning trajectory of the outer ring circle of the foundation and the positioning trajectory of the anchor bolt column, and collect the measured center point of the anchor bolt assembly and the measured boundary point of the template support. Project the measured center point of the anchor bolt assembly onto the positioning trajectory of the anchor bolt column to obtain the installation offset of the anchor bolt assembly. The measured boundary points of the template support are projected onto the positioning trajectory of the outer ring circle of the foundation, and the projection deviation is decomposed according to the radial offset direction and the circumferential offset direction to obtain the positioning offset of the template support. Based on the installation offset of the anchor bolt assembly and the positioning offset of the template support, the position adjustment direction, adjustment distance, and adjustment object are determined, and the anchor bolt position adjustment command is generated.

7. The intelligent control method for adaptive positioning and installation of wind turbine anchors in mountainous areas according to claim 6, characterized in that, The step of generating the anchor bolt position adjustment command further includes: Obtain the adjustment direction, adjustment distance, and adjustment object corresponding to the installation offset of the anchor bolt assembly and the positioning offset of the formwork support; determine the adjustment sequence of the anchor bolt assembly and the formwork support according to the set adjustment priority. When the adjustment priority of the anchor bolt assembly is higher than that of the template support, an anchor bolt advance adjustment record is generated according to the installation offset of the anchor bolt assembly, and the template support positioning offset is written into the review adjustment record. When the adjustment priority of the template support is higher than that of the anchor bolt assembly, a support prior adjustment record is generated according to the positioning offset of the template support, and the anchor bolt position adjustment command is output.

8. The intelligent control method for adaptive positioning and installation of wind turbine anchors in mountainous areas according to claim 1, characterized in that, The steps for generating edge protection installation instructions include: Obtain the location of the vent hole on the upper anchor plate and the reference line of the outer edge of the upper anchor plate. Convert the location of the vent hole on the upper anchor plate to the construction and installation coordinate system, and screen the installable vent holes according to the radial distance between the vent hole and the outer edge of the upper anchor plate. The installation position of the L-shaped bracket is determined based on the installable vent hole, and the wire rope series path is established according to the spatial adjacency order between the installation positions of adjacent L-shaped brackets. Based on the endpoint positions of adjacent support segments in the wire rope series path, the positions of vent holes located inside the support segment and meeting the preset hanging point spacing threshold are selected to determine the safety belt hanging point positions and generate the edge protection installation instructions.

9. The intelligent control method for adaptive positioning and installation of wind turbine anchors in mountainous areas according to claim 7, characterized in that, The steps to determine the anchor bolt positioning and installation control scheme include: Obtain the adjustment direction, adjustment distance, adjustment object, and verification adjustment record from the anchor bolt position adjustment instruction, and obtain the bracket installation, wire rope connection, and safety belt attachment point from the edge protection installation instruction to establish a work instruction table; Based on the installation dependencies in the work instruction table, the protective installation actions corresponding to the edge protection installation instructions are sorted before the anchor bolt assembly adjustment actions, and the formwork support adjustment actions are sorted before the formwork verification adjustment actions, thus generating the installation execution order; Based on the installation execution sequence, the adjustment distance, and the review and adjustment record, establish control nodes, node triggering conditions, and node pass status, and output the anchor bolt positioning and installation control scheme. Specifically, the control node and the node triggering condition refer to determining the protection installation node, anchor bolt adjustment node, template support node and retest confirmation node in sequence according to the installation execution order, and writing the corresponding execution object and allowed execution status for each control node; The completion status of the protective installation node is determined as the node triggering condition of the anchor bolt adjustment node, and the adjusted offset of the anchor bolt adjustment node is not greater than the corresponding allowable offset threshold is determined as the node triggering condition of the template support node. The retest offset collected by the retest confirmation node is compared with the corresponding allowable offset threshold. When the retest offset is not greater than the corresponding allowable offset threshold, the node is determined to be in a pass state.

10. An intelligent control system for adaptive positioning and installation of wind turbine anchor bolts in mountainous areas, characterized in that, The system is used to implement the method according to any one of claims 1-9, comprising: The anchor plate measurement module is used to acquire measurement data of the symmetrical bolt holes of the lower anchor plate and the semi-circular anchor plate, and to determine the position of the symmetrical bolt holes of the lower anchor plate and the position of the arc of the semi-circular anchor plate. The center trajectory generation module is connected to the anchor plate measurement module. It is used to determine the center of the anchor plate according to the position of the symmetrical bolt holes of the lower anchor plate and the position of the arc of the semi-circular anchor plate, and to generate the foundation outer ring positioning trajectory and the anchor bolt column positioning trajectory based on the center of the anchor plate. The offset control module, connected to the center trajectory generation module, is used to determine the installation offset of the anchor bolt assembly and the positioning offset of the template support based on the positioning trajectory of the outer ring of the foundation and the positioning trajectory of the anchor bolt column, and to generate an anchor bolt position adjustment command based on the installation offset of the anchor bolt assembly and the positioning offset of the template support. The edge protection planning module, connected to the offset control module, is used to obtain the position of the upper anchor plate vent hole, determine the L-shaped bracket installation position, the wire rope series path and the safety belt hanging point position based on the position of the upper anchor plate vent hole, and generate edge protection installation instructions. The scheme decision module, connected to the edge protection planning module, is used to determine the anchor bolt positioning and installation control scheme based on the anchor bolt position adjustment instruction and the edge protection installation instruction.

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