CN101893864A - Method for monitoring three-dimensional model of pier facilities group - Google Patents
Method for monitoring three-dimensional model of pier facilities group Download PDFInfo
- Publication number
- CN101893864A CN101893864A CN 200910051794 CN200910051794A CN101893864A CN 101893864 A CN101893864 A CN 101893864A CN 200910051794 CN200910051794 CN 200910051794 CN 200910051794 A CN200910051794 A CN 200910051794A CN 101893864 A CN101893864 A CN 101893864A
- Authority
- CN
- China
- Prior art keywords
- model
- monitoring
- harbour
- data
- parts
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention provides a method for monitoring a three-dimensional model of a pier facilities group, comprising the following steps: carrying out modularization decomposition on the pier facilities, classifying into a component set with hierarchical relationship and constructing a reusable pier facility component model library; adopting files with a uniform format to store harbor facilities and information of container yards so as to be convenient for construction and edition of the pier; and realizing uploading and rendering appearance of engineering files in a computer system and utilizing interaction of scene targets and a harbor roaming service of the tracking mode of support equipment and containers to achieve monitoring. The constructed monitoring system based on the method is no need of a camera, thus cost and failure rate of the method are low.
Description
Technical field
The present invention relates to a kind of method for supervising of pier facilities group.
Background technology
DirectX is based on one group of API of windows platform, and it is for high request application and development services such as real-time animation is at a high speed played up, interactive music and Environmental Audio Extension.The DirectX technology provides hardware independence for the software developer, and don't lose the characteristic of direct access hardware, between hardware device and application program, provide a cover complete accordant interface, installing and complexity during configuration reducing, and can utilize the excellent characteristic of hardware to greatest extent.By using the interface that DirectX provided, the high-performance that the software developer can utilize hardware institute to bring heartily, and need not be worried in those complicated and changeable hardware execution details.DirectX has become present three-dimensional picture exploitation standard.
The equipment of automatic dock will carry out the work such as lifting that dock container has been finished in exercises, in order to grasp the working condition of equipment, just need monitor equipment.Present monitoring work mainly is to monitor with camera, a plurality of cameras are installed in each different position to realize monitoring work, but the shortcoming of such monitor mode is the cost height, in addition because camera belongs to flimsy parts, so the failure rate that causes this monitor mode is than higher.
So automatic dock need provide a kind of new monitor mode, this monitor mode should equally with camera realize three-dimensional and real-time monitoring, and cost and failure rate are lower.
Summary of the invention
The present invention aims to provide a kind of method for monitoring three-dimensional model of pier facilities group, and the cost and the failure rate of this method are low.
The invention provides a kind of method for monitoring three-dimensional model of pier facilities group, may further comprise the steps:
A. the equipment of harbour is carried out modularization and decompose, each equipment is divided into a plurality of parts, make up the reusable partial model storehouse of these parts, make up the model bank of harbour scenario objects simultaneously by computer program;
B. set up tree type level topological relation between each parts for each equipment, according to this tree type level topological relation, making up based on the collection in worksite data is the coupled movements model of each parts of parameter;
C. set up the readable project file of computer program, the index in the partial model storehouse of each parts of each equipment of this project file storage harbour, freedom of motion, size, color and tree type level topological relation, and the topology data of memory code first show scape object, to realize the through engineering approaches storage of harbour;
D. in computer system, realize the loading of project file and play up presenting, and the Real Time Drive of the coupled movements model that makes up among the data integrating step b according to harbour collection in worksite realization pier facilities, to realize the virtual scene of harbour;
E. undertaken alternately by the pier facilities in human-computer interaction device and the virtual scene; And
F. by a roaming system this virtual scene is carried out translation, rotation or convergent-divergent, to realize the monitoring of each equipment.
Partial model storehouse among the described step a is the data file of each parts correspondence of pier facilities modularization decomposition back, and the data of this data file storage are equivalent to the model file grid data under the local coordinate system in the DirectX system.
Coupled movements model among the described step b is based on the world's transformation matrix in the DirectX system of each parts that the collection in worksite data are parameter.
Partial model storehouse among the described step a is the data file of three-dimensional graphics software output.
Among the described step c, described project file is an XML (extensible Markup Language) XML file.
In the described steps d, utilize DirectX to make up to play up framework to play up and present, obtain the harbour field data that collects from server end by WebService.
Adopt the method for monitoring three-dimensional model of pier facilities group of the present invention, improved three-dimensional model reusability, reduced the duplication of labour in the model construction; Convenient establishment and the edit-modify that carries out the harbour scene at any time of the project file of consolidation form, and mutual by harbour roaming system and harbour scene, the simplicity and the dirigibility of user's operation have been increased greatly, the supervisory system that makes up according to this method need not camera, so the cost of this method and failure rate are low.
Description of drawings
Fig. 1 is the schematic flow sheet of three-dimensional model harbour method for supervising of the present invention;
Fig. 2 is the synoptic diagram of bank bridge (pier facilities a kind of).
Fig. 3 is the synoptic diagram that the modularization of bank bridge shown in Figure 2 is decomposed.
Fig. 4 is the synoptic diagram of pitching jib shown in Figure 2 and pitching jib pull bar, has wherein marked the parameter of setting up the coupled movements model.
Fig. 5 is the synoptic diagram of suspender shown in Figure 2 and container, has wherein marked the parameter of setting up the coupled movements model.
Embodiment
3-D display method for supervising provided by the invention can be used for the monitoring of pier facilities group and stockyard operation conditions, and this method cooperates the equipment Real-Time Scheduling of harbour and control system (being called for short EOS) to monitor to realize 3-D display.For convenience of description, be that example is described realization of the present invention with shore container crane (QuaysideContainer Crane, QC are called for short the bank bridge) based on the DirectX technology below.
The realization of native system can be with reference to shown in Figure 1, and this method 100 comprises step 102, makes up pier facilities partial model storehouse, and make up harbour scenario objects model bank.
Because pier facilities belong to the single and mini-batch production product, its model has nothing in common with each other, if corresponding independent entity grid file of each equipment in the virtual scene, the Geometric Modeling workload is very big, also can take a large amount of storage resources when presenting the harbour scene that comprises large number quipments.Though the realistic model of pier facilities has nothing in common with each other, the version and the method for operation of same category of device are basic identical, the size color parameter of different just part-structures or the number of specific features (as single two suspenders).Therefore can sum up the general character and the essential characteristic of various pier facilities, according to monitoring requirement and operation characteristic it is carried out the modularization decomposition, pier facilities are carried out modularization to be decomposed, be about to pier facilities and be divided into each parts with hierarchical relationship, the set of right these parts of pier facilities constitutes, and sets up the model bank of cover standard size parts simultaneously.Set up necessary harbour scenario objects (day sylphon, ground, track, low bridge etc.) model bank simultaneously.The foundation of model bank can be set up model with software 3ds max, and by PandaDirectX Max Exporter plug-in unit it is exported as the X file storage of Microsoft definition, also sets up the model file that 3D data layouts such as OBJ, Max are supported certainly.
The modularization is olation of bank bridge object as shown in Figure 2, the bank bridge is decomposed into cart 22, wheel 21, pitching jib 23, suspender 24, dolly 25, engine house 26 and pull bar 27.
For concrete pier facilities object, determine the module that it comprises by the described project file in back, set the hierarchical relationship of each intermodule simultaneously, configuration initial position, size, color, freedom of motion and driving parameters.Size can realize by the non-homogeneous zoom factor (formula 1) of specifying master pattern in the relative model storehouse.Color then for example realizes by material (Material) conversion in DirectX.
Can extrapolate according to tree type hierarchical relationship, world's conversion unification of each module is expressed as each parts product of the transformation matrix of its parent object relatively:
V
world＝V
local×M
zoom×M
world_AfterZoom (2)
M
world_AfterZoom＝M
local×M
parent(n-1)_local×M
parent(n-2)_local…×M
parent(I)_local (3)
In the formula: V
LocalThree-dimensional entity model in the expression local coordinate system;
V
WorldSolid model in the expression global space (world coordinate system);
M
ZoomThe scaled matrix of representing master pattern in this module relative model storehouse;
M
World_AfterZoomExpression with convergent-divergent after world's transformation matrix of module;
That is to say, only need obtain the transform matrix M of the relative parent object of each parts
Local, just can construct world's transformation matrix of each parts, also just realize the complete driving of pier facilities.Transform matrix M
LocalCan be expressed as at an easy rate:
For concrete pier facilities, in the formula (4)
x
0y
0z
0Be the parameter of equipment when being positioned at zero point of regulation, in configuration file, provide as known quantity according to physical size.And
The value of Δ x Δ y Δ z then can be obtained by on-site data gathering.
Comprehensive above the description is appreciated that, as long as just can access each world's transformation matrix constantly of parts from the limited data of collection in worksite in real time, also just can determine and simulate the current operation attitude of harbour machinery, and implementation model drives.
Motion model unification with all modules as mentioned is identical transformation for mula, realizes all possible conversion (translation, rotation, transformation of scale) of parts, so that programming.
The hierarchical relationship of bank bridge as shown in Figure 3, the structure of world's transformation matrix of each module is as follows:
(1) cart: the position at zero point that need at first obtain the bank bridge in the harbour world coordinate system (x, z), sea level elevation y, with and towards angle
And be stored in the configuration file as known quantity.Like this according to the formula (4) of front as can be known, the run location that only needs to obtain from the scene cart relative zero just can be counted and obtain its world's transformation matrix.
(2) fixedly jib, engine house and fixing jib pull bar: they all are the static objects of relative father's level.Only need to determine that under the bank bridge original state, the position of father's level object coordinate system gets final product relatively separately.
(3) pitching jib and pitching jib pull bar: only need record the luffing angle θ of pitching jib with respect to cart.The pull bar of pitching jib.
For the pitching jib pull bar object in the following formula, need calculate the length l and the anglec of rotation of pull bar in real time according to the anglec of rotation θ of pitching jib
That is to say, in rotation, the M of pitching jib pull bar
ZoomAlso needing to carry out real-time convergent-divergent according to current length makes up.
Their value can be calculated as follows with reference to accompanying drawing 4:
(4) dolly: under need recording from bank bridge original state to current state dolly along jib operation apart from d.
(5) suspender and container: sling system is connected on the lifting mechanism by wire rope, and the change of big dolly motion state and the influence of other extraneous factors such as wind cause sling system to show as the spatial movement of a complexity.We only need to obtain the length of steel wire rope l of the relative his father's level of suspender trolley component and the anglec of rotation of the relative father's level of suspender dolly coordinate system X-axis and Z axle
With
, just can determine (accompanying drawing 5) at an easy rate.
Wherein:
Directly measure for having disposed corresponding sensor
With
The bank bridge of value, world's transformation matrix of suspender can directly adopt top formula to obtain.Generally can not consider to rotate and only directly be reduced to the dropping distance of dolly relatively.
In sum, so just can obtain world's transformation matrix of all parts of bank bridge, realize the motion modeling of each parts, just obtain the complete attitude information of each parts, realize harbour machinery model-driven based on collection in worksite information.The harbour machinery of other kinds is identical therewith with motion motion of objects modeling pattern in the scene.
The harbour project file to set up flow process as follows: the project file that at first makes up pier facilities is stored information such as the model bank file index of each each module of equipment, freedom of motion, size, color, hierarchical relationship, set up layout (initial position, the towards) information of harbour engineering file storage harbour scenario objects (equipment, track, sky, ground etc.) then, realize the through engineering approaches storage of harbour object.
Adopt Microsoft C# and DirectX technology to realize the loading of project file and play up presenting.Realize the Real Time Drive of equipment and the update displayed of dock container according to the motion model that makes up in the data integrating step 104 of harbour collection in worksite, promptly pass through index, freedom of motion, size, color and the tree type level topological relation in the partial model storehouse of each parts in the project file, determine that each equipment determines its module that comprises (parts), set the hierarchical relationship of each intermodule simultaneously, configuration initial position, size, color, freedom of motion and driving parameters.
Adopt the DirectX technology to realize the pick-up operation of harbour object, form devices selected or container by mouse-click carry out alternately, and the bounding box of the object interpolation wire frame pattern of choosing highlights.Realize the harbour roaming by DirectX technique construction harbour virtual camera system, adopt keyboard and mouse to realize that level and smooth translation, choosing are changeed, the convergent-divergent roam operation, simultaneously, link with the harbour scenario objects of choosing by observation point, just realized the tracing monitoring of pier facilities and container virtual camera.Made things convenient for user's monitoring.
Those of ordinary skill in the art will be appreciated that, above embodiment is used for illustrating the present invention, and be not to be used as limitation of the invention, as long as in connotation scope of the present invention, all will drop on claim scope of the present invention to variation, the modification of the above embodiment.
Claims (6)
1. the method for monitoring three-dimensional model of a pier facilities group may further comprise the steps:
A. the equipment of harbour is carried out modularization and decompose, each equipment is divided into a plurality of parts, make up the reusable partial model storehouse of these parts, make up the model bank of harbour scenario objects simultaneously by computer program;
B. set up tree type level topological relation between each parts for each equipment, according to this tree type level topological relation, making up based on the collection in worksite data is the coupled movements model of each parts of parameter;
C. set up the readable project file of computer program, the index in the partial model storehouse of each parts of each equipment of this project file storage harbour, freedom of motion, size, color and tree type level topological relation, and the topology data of memory code first show scape object, to realize the through engineering approaches storage of harbour;
D. in computer system, realize the loading of project file and play up presenting, and the Real Time Drive of the coupled movements model that makes up among the data integrating step b according to harbour collection in worksite realization pier facilities, to realize the virtual scene of harbour;
E. undertaken alternately by the pier facilities in human-computer interaction device and the virtual scene; And
F. by a roaming system this virtual scene is carried out translation, rotation or convergent-divergent, to realize the monitoring of each equipment.
2. method for monitoring three-dimensional model as claimed in claim 1, it is characterized in that, partial model storehouse among the described step a is the data file of each parts correspondence of pier facilities modularization decomposition back, and the data of this data file storage are equivalent to the model file grid data under the local coordinate system in the DirectX system.
3. method for monitoring three-dimensional model as claimed in claim 2 is characterized in that, the coupled movements model among the described step b is based on the world's transformation matrix in the DirectX system of each parts that the collection in worksite data are parameter.
4. method for monitoring three-dimensional model as claimed in claim 1 is characterized in that, the partial model storehouse among the described step a is the data file of three-dimensional graphics software output.
5. method for monitoring three-dimensional model as claimed in claim 1 is characterized in that, among the described step c, described project file is an XML (extensible Markup Language) XML file.
6. method for monitoring three-dimensional model as claimed in claim 1 is characterized in that, in the described steps d, utilizes DirectX to make up to play up framework to play up and presents, and obtains the harbour field data that collects from server end by Web Service.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910051794 CN101893864A (en) | 2009-05-22 | 2009-05-22 | Method for monitoring three-dimensional model of pier facilities group |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910051794 CN101893864A (en) | 2009-05-22 | 2009-05-22 | Method for monitoring three-dimensional model of pier facilities group |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101893864A true CN101893864A (en) | 2010-11-24 |
Family
ID=43103086
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910051794 Pending CN101893864A (en) | 2009-05-22 | 2009-05-22 | Method for monitoring three-dimensional model of pier facilities group |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101893864A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102509331A (en) * | 2011-10-25 | 2012-06-20 | 江苏南大先腾信息产业有限公司 | Dynamic model building method based on three-dimensional (3D) engine |
| CN102609985A (en) * | 2012-02-29 | 2012-07-25 | 北京恒泰实达科技发展有限公司 | Three-dimensional power station graphic platform |
| CN106681246A (en) * | 2016-11-28 | 2017-05-17 | 北京华能新锐控制技术有限公司 | Remote monitoring system of coal transfer terminal |
| CN107479780A (en) * | 2017-07-13 | 2017-12-15 | 北京微视酷科技有限责任公司 | A kind of virtual scene processing, method for down loading and device, VR equipment |
| CN107509054A (en) * | 2017-08-16 | 2017-12-22 | 上海振华重工(集团)股份有限公司 | The Visualized Monitoring System and method of automatic dock |
| CN107766116A (en) * | 2017-10-25 | 2018-03-06 | 上海振华重工(集团)股份有限公司 | A kind of emulator, automatic dock stockyard handling facilities analogue system |
| CN108021084A (en) * | 2017-12-11 | 2018-05-11 | 中国兵器装备集团自动化研究所 | The production line three-dimension monitoring system that a kind of actual situation combines |
| CN108364341A (en) * | 2018-03-05 | 2018-08-03 | 四川易利数字城市科技有限公司 | Three-dimensional scenic based on reusable template model loads rendering efficiency improvement method |
| CN111784812A (en) * | 2020-06-09 | 2020-10-16 | 当家移动绿色互联网技术集团有限公司 | Rendering method, rendering device, storage medium and electronic equipment |
| CN114545877A (en) * | 2022-02-08 | 2022-05-27 | 燕山大学 | Bulk cargo-oriented multi-engineering mechanical digital twin online monitoring system and method |
-
2009
- 2009-05-22 CN CN 200910051794 patent/CN101893864A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102509331A (en) * | 2011-10-25 | 2012-06-20 | 江苏南大先腾信息产业有限公司 | Dynamic model building method based on three-dimensional (3D) engine |
| CN102509331B (en) * | 2011-10-25 | 2014-04-30 | 江苏南大先腾信息产业有限公司 | Dynamic model building method based on three-dimensional (3D) engine |
| CN102609985A (en) * | 2012-02-29 | 2012-07-25 | 北京恒泰实达科技发展有限公司 | Three-dimensional power station graphic platform |
| CN106681246A (en) * | 2016-11-28 | 2017-05-17 | 北京华能新锐控制技术有限公司 | Remote monitoring system of coal transfer terminal |
| CN107479780A (en) * | 2017-07-13 | 2017-12-15 | 北京微视酷科技有限责任公司 | A kind of virtual scene processing, method for down loading and device, VR equipment |
| CN107509054A (en) * | 2017-08-16 | 2017-12-22 | 上海振华重工(集团)股份有限公司 | The Visualized Monitoring System and method of automatic dock |
| CN107766116A (en) * | 2017-10-25 | 2018-03-06 | 上海振华重工(集团)股份有限公司 | A kind of emulator, automatic dock stockyard handling facilities analogue system |
| CN108021084A (en) * | 2017-12-11 | 2018-05-11 | 中国兵器装备集团自动化研究所 | The production line three-dimension monitoring system that a kind of actual situation combines |
| CN108021084B (en) * | 2017-12-11 | 2020-07-28 | 中国兵器装备集团自动化研究所 | Virtual-real combined production line three-dimensional monitoring system |
| CN108364341A (en) * | 2018-03-05 | 2018-08-03 | 四川易利数字城市科技有限公司 | Three-dimensional scenic based on reusable template model loads rendering efficiency improvement method |
| CN108364341B (en) * | 2018-03-05 | 2021-06-29 | 四川易利数字城市科技有限公司 | Method for improving three-dimensional scene loading rendering efficiency based on reusable template model |
| CN111784812A (en) * | 2020-06-09 | 2020-10-16 | 当家移动绿色互联网技术集团有限公司 | Rendering method, rendering device, storage medium and electronic equipment |
| CN114545877A (en) * | 2022-02-08 | 2022-05-27 | 燕山大学 | Bulk cargo-oriented multi-engineering mechanical digital twin online monitoring system and method |
| CN114545877B (en) * | 2022-02-08 | 2024-04-05 | 燕山大学 | Multi-working-procedure mechanical digital twin on-line monitoring system and method for bulk cargo |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101893864A (en) | Method for monitoring three-dimensional model of pier facilities group | |
| US8046205B2 (en) | Collecting and transporting simulation data | |
| CN108710739A (en) | A kind of Building Information Model lightweight and three-dimensional scenic visualization method and system | |
| CN113887016A (en) | Ship digital workshop simulation method and system based on digital twinning | |
| CN109783851A (en) | Railway bowstring arch bridge Construction simulation system and method based on 3DGIS and BIM technology | |
| CN101866179B (en) | Boat segmental hoisting simulation system restricted by three-dimensional space | |
| CN107671857A (en) | For service robot operation demonstration and the three-dimensional artificial platform of proof of algorithm | |
| CN109472483A (en) | A kind of building-site modeling method and system based on BIM model and technology of taking photo by plane | |
| CN110471979A (en) | Analogue system is shown with the electric network information excavated based on multi-source emulation data aggregation | |
| Behzadan et al. | Integrated information modeling and visual simulation of engineering operations using dynamic augmented reality scene graphs | |
| KR100915209B1 (en) | Automatic Modeling And Navigation System for Solid Builing Plane And Internal in Base of XML, And Method Thereof | |
| CN101920233A (en) | System and method for comprehensively controlling spraying industrial robot based on virtual reality technology | |
| JP7463315B2 (en) | Facility management method, facility management device, facility management program, and recording medium | |
| CN111597605A (en) | Railway dynamic simulation cockpit system | |
| CN110008591A (en) | A kind of continuous rigid frame bridge construction management control method based on BIM | |
| CN111222190B (en) | Ancient building management system | |
| CN109989751A (en) | A kind of cross-platform long-range real time kinematics tracking system of three machine of fully mechanized mining and method | |
| Behzadan et al. | Automated generation of operations level construction animations in outdoor augmented reality | |
| Li et al. | A low-complexity method for authoring an interactive virtual maintenance training system of hydroelectric generating equipment | |
| Yu et al. | Construction and evaluation of Construction Safety Management System based on BIM and Internet of Things | |
| CN111459289A (en) | BIM information visualization system and method based on mobile augmented reality | |
| CN114815757A (en) | Digital twin virtual inspection method for cement plant | |
| CN102779215A (en) | Networked three-dimensional hoisting simulation method based on B/S (Browser/Server) framework and cache technology | |
| CN110941867A (en) | Construction method of standardized site layout based on BIM | |
| CN101295327B (en) | Harbor monitoring data virtual display device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20101124 |