CN105819339A - Virtual command module for large lifting operations and working method of virtual command module - Google Patents
Virtual command module for large lifting operations and working method of virtual command module Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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Abstract
本发明属于吊装作业安全控制领域,提供一种大型吊装作业虚拟指挥舱及其工作方法,本发明装置由实景监控系统、虚拟引导系统、精准定位系统和吊装力学分析系统组成。本发明可实现吊装现场全局域监控的可视化,并基于BIM模型构建吊装虚拟预演模型,通过设置工况、吊装参数,实现对吊装过程的仿真模拟与路径优化,从而对吊装风险进行事先掌握,制定符合实际要求的吊装方案;再者,通过精准定位与吊装力学分析,实现吊装防碰撞与安全管控的自动化、信息化,为一线指挥人员提供准确、直观的预报警信息,向起重机驾驶员给出统一、标准化的吊装指令,协助起重机驾驶员顺利、安全完成吊装作业,为大型吊装作业提供安全、实时、有效的技术保障。
The invention belongs to the field of hoisting operation safety control, and provides a large-scale hoisting operation virtual command cabin and its working method. The device of the invention is composed of a real scene monitoring system, a virtual guidance system, a precise positioning system and a hoisting mechanics analysis system. The present invention can realize the visualization of the global monitoring of the hoisting site, build a virtual preview model of the hoisting based on the BIM model, and realize the simulation and path optimization of the hoisting process by setting the working conditions and hoisting parameters, so as to grasp the hoisting risks in advance and formulate A hoisting scheme that meets the actual requirements; moreover, through precise positioning and hoisting mechanical analysis, the automation and informatization of hoisting anti-collision and safety control are realized, and accurate and intuitive pre-alarm information is provided for the front-line commanders, and the crane driver is given Unified and standardized hoisting instructions assist crane drivers to complete hoisting operations smoothly and safely, and provide safe, real-time and effective technical support for large-scale hoisting operations.
Description
技术领域 technical field
本发明属于吊装作业安全控制领域,特别涉及一种大型吊装作业虚拟指挥舱及其工作方法。 The invention belongs to the field of hoisting operation safety control, in particular to a large-scale hoisting operation virtual command cabin and a working method thereof.
背景技术 Background technique
随着中国经济高速发展,国内石油化工、水利水电、基础设施项目等规模越来越大,其单机设备也越来越大型化、精密化;并且由于模块化施工的逐渐推行,体积更大、重量更重的大型模块也不断涌现出来。吊装物的大型化、重型化,使得吊装工艺要求越发严苛,需要保证吊装物的准确吊装与防碰撞,难度远超以往的吊装作业。同时,根据国家质量监督检验检疫总局公布的2015年上半年特种设备安全有关情况,吊装机械事故占特种设备上报事故总数的13.5%。因此,提高大型吊装物吊装过程的精确性、安全性与吊装行为的可预测性成为当前研究的紧迫任务。 With the rapid development of China's economy, domestic petrochemical, water conservancy and hydropower, and infrastructure projects are becoming larger and larger, and their stand-alone equipment is also becoming larger and more sophisticated; and due to the gradual implementation of modular construction, the volume is larger, Larger modules that weigh more are also emerging. The large-scale and heavy-duty hoisting objects make the hoisting process requirements more and more stringent. It is necessary to ensure the accurate hoisting and anti-collision of the hoisting objects, which is far more difficult than the previous hoisting operations. At the same time, according to the relevant situation of special equipment safety in the first half of 2015 announced by the General Administration of Quality Supervision, Inspection and Quarantine, hoisting machinery accidents accounted for 13.5% of the total number of accidents reported by special equipment. Therefore, it is an urgent task to improve the accuracy, safety and predictability of hoisting behavior in the hoisting process of large hoisting objects.
由于吊装物的大型化,起重机在吊装过程中容易发生倾覆,吊装场地在过大荷载情况下也容易发生结构性破坏;同时,起重机驾驶员在吊装过程中存在多个盲区;再者,现场环境嘈杂、交叉作业多,需要指挥人员配合起重机驾驶员完成吊装作业,然而多人联合指挥作业会使沟通效果难以得到保证,且单靠指挥人员自身经验来判断吊装是否安全也无法保证作业的精度和安全性,指令不一、不规范对起重机驾驶员操作同样造成巨大负面影响,危及吊装作业安全。为此,发明一套大型吊装作业虚拟指挥舱及其工作方法具有重要的工程意义和现实价值。 Due to the large size of the hoisting object, the crane is prone to overturning during the hoisting process, and the hoisting site is also prone to structural damage under the condition of excessive load; at the same time, there are many blind spots for the crane driver during the hoisting process; moreover, the site environment Noisy and many cross operations require the command personnel to cooperate with the crane driver to complete the hoisting operation. However, the joint command operation of multiple people will make it difficult to guarantee the communication effect, and it is impossible to guarantee the accuracy and accuracy of the operation only by the commander's own experience to judge whether the hoisting is safe. Safety, inconsistent instructions, and irregularities also have a huge negative impact on the operation of the crane driver, endangering the safety of hoisting operations. Therefore, inventing a set of virtual command cabin for large hoisting operation and its working method has important engineering significance and practical value.
发明内容 Contents of the invention
本发明的目的在于克服上述现有技术中的不足,提供一种大型吊装作业虚拟指挥舱及其工作方法,实现吊装现场全局域监控的可视化,并基于BIM模型构建吊装虚拟预演模型,通过设置工况、吊装参数,实现对吊装过程的仿真模拟与路径优化,从而对吊装风险进行事先掌握,制定符合实际要求的吊装方案;再者,通过精准定位与吊装力学分析,实现吊装防碰撞与安全管控的自动化、信息化,为一线指挥人员提供准确、直观的预报警信息,从而向起重机驾驶员给出统一、标准化的吊装指令,协助起重机驾驶员顺利、安全完成吊装作业,为大型吊装作业提供了安全、实时、有效的技术保障。 The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art, provide a virtual command cabin for large-scale hoisting operations and its working method, realize the visualization of the global domain monitoring of the hoisting site, and build a virtual preview model of hoisting based on the BIM model. conditions and hoisting parameters, to realize the simulation and path optimization of the hoisting process, so as to grasp the hoisting risks in advance and formulate a hoisting plan that meets the actual requirements; moreover, through precise positioning and hoisting mechanical analysis, hoisting anti-collision and safety control can be realized The automation and informatization provide the front-line commanders with accurate and intuitive pre-alarm information, so as to give unified and standardized hoisting instructions to the crane driver, assist the crane driver to complete the hoisting operation smoothly and safely, and provide a great solution for large-scale hoisting operations Safe, real-time and effective technical support.
本发明的目的是通过以下技术方案实现的。 The purpose of the present invention is achieved through the following technical solutions.
一种大型吊装作业虚拟指挥舱,包括实景监控系统、虚拟引导系统、精准定位系统和吊装力学分析系统; A virtual command cabin for large hoisting operations, including a real scene monitoring system, a virtual guidance system, a precise positioning system and a hoisting mechanics analysis system;
所述实景监控系统,用于接收地面及井下布设的高清网络摄像机上传的实时监控画面,排查现场吊装准备情况,监控和记录吊装轨迹,辅助指挥人员查看作业盲区,保证其掌握吊装现场各角度画面,协助其指挥起重机驾驶员调整吊装物姿态,实现吊装全过程的可视化;所述吊装实景监控系统由设置在吊装场景内的高清网络摄像机、存储服务器、实景监控客户端组成; The real-scene monitoring system is used to receive real-time monitoring images uploaded by high-definition network cameras deployed on the ground and underground, check site hoisting preparations, monitor and record hoisting trajectories, and assist commanders to check operation blind spots to ensure that they can grasp the images of all angles of the hoisting site to assist the crane driver in commanding the crane driver to adjust the posture of the hoisting object, so as to realize the visualization of the whole hoisting process; the hoisting real-scene monitoring system is composed of a high-definition network camera, a storage server, and a real-scene monitoring client installed in the hoisting scene;
所述虚拟引导系统,用于构建吊装虚拟预演模型,实现对吊装过程的仿真模拟与路径优化,并对吊装风险进行预估以制定吊装方案,同时在实际吊装过程中,实现实际吊装与仿真模拟的实时同步播放,以对吊装过程中出现的不安全动作与状态及时作出响应纠正;所述虚拟引导系统由人机环信息模块、路径规划模块、仿真模拟模块组成;所述人机环信息模块,用于查询/输入吊装人员、吊装机械以及吊装环境的参数; The virtual guidance system is used to build a hoisting virtual preview model, realize the simulation and path optimization of the hoisting process, and estimate the hoisting risk to formulate a hoisting plan, and at the same time, realize the actual hoisting and simulation during the actual hoisting process The real-time synchronous playback of the unsafe actions and states in the hoisting process can be responded and corrected in time; the virtual guidance system is composed of a man-machine ring information module, a path planning module, and a simulation module; the man-machine ring information module , used to query/input the parameters of hoisting personnel, hoisting machinery and hoisting environment;
所述精准定位系统,用于确保吊装物保持正确的姿态,通过应用超声波测距单元测量吊装物与工作井四周距离,用激光测距单元测量吊装物与井底距离,用角度测量单元测算吊装物倾角,将所述监测数据通过无线收发单元进行实时传输,并汇聚至客户端,实现吊装物上述测量数据的实时显示,防止吊装物发生碰撞,并对危险场景进行报警,提醒指挥人员对吊装人员发布指令,及时纠正吊装危险姿态;所述精准定位系统由超声波测距单元、激光测距单元、角度测量单元、无线收发单元、定位客户端组成; The precise positioning system is used to ensure that the hoisting object maintains a correct posture. The distance between the hoisting object and the surrounding of the working well is measured by using an ultrasonic ranging unit, the distance between the hoisting object and the bottom of the well is measured by a laser ranging unit, and the angle measurement unit is used to measure the distance between the hoisting object and the bottom of the well. The inclination angle of the object, the monitoring data is transmitted in real time through the wireless transceiver unit, and aggregated to the client to realize the real-time display of the above measurement data of the hoisting object, prevent the collision of the hoisting object, and give an alarm to the dangerous scene, reminding the commander to take care of the hoisting object. The personnel issue instructions to correct the dangerous posture of hoisting in time; the precise positioning system is composed of an ultrasonic ranging unit, a laser ranging unit, an angle measuring unit, a wireless transceiver unit, and a positioning client;
所述吊装力学分析系统,用于确认起重机、吊装场地及吊装工况受力安全性,通过接收起重机力矩限制器的参数及布设在地面及井口的应力应变传感器的数据,分析计算起重机及吊装场地的安全状态,实现对起重机及其作业环境的受力情况的可视化,并对受力超出设置限值进行预报警,防止起重机发生倾覆以及吊装场地发生结构性破坏;所述吊装力学分析系统由起重机数据接收模块、应力应变无线传感器、力学分析模块组成;所述起重机数据接收模块接收起重机力矩限制器的参数,信号来源包括力角度传感器信号、角度传感器信号、长度传感器信号;所述应力应变传感器,用于测量吊装井壁最大竖向附加应力、环向附加应力、地面局部竖向位移、井壁竖向位移及水平位移。 The hoisting mechanics analysis system is used to confirm the stress safety of the crane, the hoisting site and the hoisting working condition, and analyze and calculate the crane and the hoisting site by receiving the parameters of the crane moment limiter and the data of the stress and strain sensors arranged on the ground and at the wellhead. The safe state of the crane and its working environment can be visualized, and the pre-alarm will be given if the force exceeds the set limit, so as to prevent the crane from overturning and the structural damage of the hoisting site; the hoisting mechanics analysis system consists of a crane It consists of a data receiving module, a stress-strain wireless sensor, and a mechanical analysis module; the crane data receiving module receives the parameters of the crane moment limiter, and the signal source includes a force-angle sensor signal, an angle sensor signal, and a length sensor signal; the stress-strain sensor, It is used to measure the maximum vertical additional stress of the hoisting shaft wall, the additional circumferential stress, the local vertical displacement of the ground, the vertical displacement of the shaft wall and the horizontal displacement.
本发明所述超声波测距单元报警规则如下:当吊装物与井壁及周边其他设备的距离小于设置的一级报警距离,该单元发出一级报警信息并推送给指挥人员,由其对起重机驾驶员发出调整指令;当吊装物与井壁及周边其他设备的距离小于设置的二级报警距离时,该单元发出二级报警信息并推送给指挥人员,由其对起重机驾驶员发出暂停吊装指令;所述激光测距单元报警规则如下:当吊装物与井底的距离小于设置的一级报警距离,该单元发出一级报警信息并推送给指挥人员,由其对起重机驾驶员发出减速指令;当吊装物与井底的距离小于设置的二级报警距离时,该单元发出二级报警信息并推送至指挥人员,由其对起重机驾驶员发出暂停吊装指令;所述角度测量单元报警规则如下:当吊装物角度与设定角度相差超过设置的一级倾角差值时,该单元发出一级报警信息并推送至指挥人员,由其对起重机驾驶员发出调整指令;当吊装物角度与设定角度相差超过设置的一级倾角差值时,该单元发出一级报警信息并推送至指挥人员,由其对起重机驾驶员发出暂停吊装指令。 The alarm rules of the ultrasonic ranging unit of the present invention are as follows: when the distance between the hoisting object and the shaft wall and other surrounding equipment is less than the set first-level alarm distance, the unit sends out a first-level alarm message and pushes it to the commander, who will control the crane. The operator issues adjustment instructions; when the distance between the hoisting object and the well wall and other surrounding equipment is less than the set secondary alarm distance, the unit sends a secondary alarm message and pushes it to the commander, who then issues a hoisting command to the crane driver; The alarm rules of the laser ranging unit are as follows: when the distance between the hoisting object and the bottom of the well is less than the set first-level alarm distance, the unit sends a first-level alarm message and pushes it to the commander, who issues a deceleration command to the crane driver; When the distance between the hoisting object and the bottom of the well is less than the set secondary alarm distance, the unit sends a secondary alarm message and pushes it to the commander, who then issues a hoisting instruction to the crane driver; the alarm rules of the angle measurement unit are as follows: when When the difference between the angle of the hoisting object and the set angle exceeds the set first-level inclination difference, the unit will send out a first-level alarm message and push it to the commander, who will issue an adjustment command to the crane driver; when the angle of the hoisted object differs from the set angle When the first-level inclination angle difference is exceeded, the unit sends out a first-level alarm message and pushes it to the commander, who then issues a hoisting instruction to the crane driver.
本发明还提供一种大型吊装作业虚拟指挥舱的工作方法,包括准备工作方法和应用工作方法,其中准备工作方法的工作步骤如下: The present invention also provides a working method of a virtual command cabin for large-scale hoisting operations, including a preparation method and an application method, wherein the working steps of the preparation method are as follows:
第一步,依托BIM模型,根据提供的起重机、各类人员、作业环境数据建立参数化BIM模型,其中,参数包括吊装物的重量、尺寸与外形特征、地面及竖井尺寸参数与吊装人员、指挥人员的基本信息; The first step is to rely on the BIM model and establish a parametric BIM model based on the data provided by the crane, various personnel, and the operating environment. Basic information of personnel;
第二步,建立吊装BIM模型,制定初步吊装方案; The second step is to establish a hoisting BIM model and formulate a preliminary hoisting plan;
第三步,根据制定的初步吊装方案,结合给定的吊装工况,通过吊装力学分析系统分析计算起重机的受力情况,确认起重机及吊装工况是否满足安全要求; The third step is to analyze and calculate the force of the crane through the hoisting mechanics analysis system according to the preliminary hoisting plan formulated and combined with the given hoisting conditions, to confirm whether the crane and hoisting conditions meet the safety requirements;
第四步,对于仿真过程中发现的各类问题进行记录并修正初步吊装方案; The fourth step is to record all kinds of problems found in the simulation process and correct the preliminary hoisting plan;
第五步,再次进行仿真模拟,直至仿真过程中不再出现问题,由此形成最终基于BIM的可视化虚拟吊装方案; The fifth step is to carry out the simulation again until there are no more problems in the simulation process, thus forming the final visual virtual hoisting scheme based on BIM;
第六步,根据形成的可视化虚拟吊装方案,确认刀盘吊装的定位监测方案。 The sixth step is to confirm the positioning monitoring plan of the cutterhead hoisting according to the formed visual virtual hoisting scheme.
本发明大型吊装作业虚拟指挥舱的应用工作方法,包括以下工作步骤: The application working method of the large-scale hoisting operation virtual command cabin of the present invention comprises the following working steps:
第一步,根据吊装现场实地勘察,确定实景监控系统终端摄像机安装位置,制定安装方案; The first step is to determine the installation position of the terminal camera of the real scene monitoring system according to the field survey of the hoisting site, and formulate the installation plan;
第二步,执行第一步中制定的安装方案,安装完成后进行联网,建立实景监控实时全局域可视化系统; The second step is to implement the installation plan formulated in the first step, and connect to the Internet after the installation is completed, and establish a real-time global domain visualization system for real-time monitoring;
第三步,开启实景监控系统,通过监控工作中心,对摄像机画面进行切换,并对摄像机进行旋转、变焦,确定各高清网络摄像机正常工作,保证吊装全过程都在本系统视频监控范围内; The third step is to turn on the real scene monitoring system, switch the camera screen through the monitoring work center, and rotate and zoom the camera to make sure that each high-definition network camera is working normally, and ensure that the whole process of hoisting is within the video monitoring range of this system;
第四步,将精准定位系统的超声波测距单元、激光测距单元、角度测量单元布置在吊装物的相应位置,开启各测量单元及终端监控软件,对各测量单元进行联网调试,确保各单元正常工作; The fourth step is to arrange the ultrasonic ranging unit, laser ranging unit, and angle measuring unit of the precise positioning system at the corresponding positions of the hoisting object, open each measuring unit and terminal monitoring software, and conduct network debugging on each measuring unit to ensure that each unit normal work;
第五步,吊装前,指挥人员利用吊装力学分析系统对起重机力矩限制器、地面与井口的应力应变传感器传回的具体参数进行分析,判断起重机及吊装场地是否处于安全状态; Step 5. Before hoisting, the commander uses the hoisting mechanics analysis system to analyze the specific parameters returned by the crane moment limiter, the stress and strain sensors on the ground and the wellhead, and judge whether the crane and the hoisting site are in a safe state;
第六步,指挥人员根据实景监控系统,当吊装人员与吊装场地已做好吊装准备,指挥人员指挥起重机驾驶员起吊; The sixth step, according to the real scene monitoring system, when the hoisting personnel and the hoisting site are ready for hoisting, the commanding personnel instructs the crane driver to lift;
第七步,起吊过程中,指挥人员同步播放虚拟引导系统的可视化虚拟吊装方案,根据虚拟吊装过程,对起重机驾驶员发出指令,使得吊装过程按照确定的吊装方案进行; Step 7: During the hoisting process, the commander will play the visual virtual hoisting scheme of the virtual guidance system synchronously, and issue instructions to the crane driver according to the virtual hoisting process, so that the hoisting process will be carried out according to the determined hoisting scheme;
第八步,同时,指挥人员根据精准定位系统显示的吊装物与四周的距离,对起重机驾驶员持续发出标准化指令; The eighth step, at the same time, the commander continues to issue standardized instructions to the crane driver according to the distance between the hoisting object and the surrounding area displayed by the precise positioning system;
第九步,当吊装间距达到上述两级预报警任一情况时,指挥人员根据实景监控系统的监控画面,指挥起重机驾驶员采取预防措施,调整吊装物姿态,防止发生碰撞; In the ninth step, when the hoisting distance reaches any of the above-mentioned two-level pre-alarms, the command personnel instruct the crane driver to take preventive measures according to the monitoring screen of the real scene monitoring system, adjust the posture of the hoisting objects, and prevent collisions;
第十步,吊装物快接近工作井底部时,指挥人员通过精准定位系统的激光测距单元传回的数据与实景监控系统传回的实时吊装画面,对起重机驾驶员发出减速指令,直至吊装物到达预定位置,对起重机驾驶员发出停止吊装指令,由此一个吊装过程完毕。 In the tenth step, when the hoisting object is approaching the bottom of the working well, the commanding personnel will issue a deceleration command to the crane driver through the data sent back by the laser ranging unit of the precise positioning system and the real-time hoisting picture sent back by the real-world monitoring system until the hoisting object When the crane arrives at the predetermined position, an instruction to stop the hoisting is given to the crane driver, and thus a hoisting process is completed.
本发明结构简单、操作方便,具有以下优点: The present invention is simple in structure, easy to operate, has the following advantages:
(1)主动安全控制:本装置采用的实时定位、实景监控等技术可有效实现吊装作业安全风险的主动提醒和预报警; (1) Active safety control: The real-time positioning, real-time monitoring and other technologies adopted by this device can effectively realize the active reminder and pre-alarm of safety risks in hoisting operations;
(2)集成控制:本装置将大型吊装作业过程中的视频监控需求、吊装方案仿真与同步播放需求、吊装防碰撞与预警需求和吊装全过程受力安全控制需求集成到一个平台上,从而实现上述信息的统一获取、共享,实现大型吊装的安全集成控制; (2) Integrated control: This device integrates the requirements of video monitoring during the large-scale hoisting operation, the hoisting scheme simulation and synchronous playback requirements, the hoisting anti-collision and early warning requirements, and the hoisting process force safety control requirements into one platform, so as to realize The unified acquisition and sharing of the above information realizes the safe integrated control of large-scale hoisting;
(3)提高吊装效率:指挥人员通过虚拟引导系统,提前模拟现场吊装,不断优化吊装路径,预判可能出现的不安全情形,从而在实际吊装过程中大幅减少不必要的调整时间。 (3) Improving hoisting efficiency: Commanders use the virtual guidance system to simulate on-site hoisting in advance, continuously optimize the hoisting path, and predict possible unsafe situations, thereby greatly reducing unnecessary adjustment time during the actual hoisting process.
附图说明 Description of drawings
图1为本发明装置的示意图。 Figure 1 is a schematic diagram of the device of the present invention.
图2为本发明一种大型吊装作业虚拟指挥舱的准备工作方法流程图。 Fig. 2 is a flow chart of the method for preparing a virtual command cabin for large-scale hoisting operations according to the present invention.
图3为本发明一种大型吊装作业虚拟指挥舱的应用工作方法流程图。 Fig. 3 is a flow chart of the application and working method of a virtual command cabin for large-scale hoisting operations according to the present invention.
具体实施方式 detailed description
下面结合附图和实施案例,对本发明专利的技术方案进行具体说明。 The technical scheme of the patent of the present invention will be described in detail below in conjunction with the accompanying drawings and examples of implementation.
如图1所示,本实施案例提供一种大型吊装作业虚拟指挥舱,包括实景监控系统、虚拟引导系统、精准定位系统和吊装力学分析系统。 As shown in Figure 1, this implementation case provides a virtual command cabin for large-scale hoisting operations, including a real-world monitoring system, a virtual guidance system, a precise positioning system, and a hoisting mechanics analysis system.
所述实景监控系统,用于接收地面及井下布设的高清网络摄像机上传的实时监控画面,排查现场吊装准备情况,监控和记录吊装轨迹,辅助指挥人员查看作业盲区,保证其掌握吊装现场各角度画面,协助其指挥起重机驾驶员调整吊装物姿态,实现吊装全过程的可视化;所述吊装实景监控系统由设置在吊装场景内的高清网络摄像机、存储服务器、实景监控客户端组成; The real-scene monitoring system is used to receive real-time monitoring images uploaded by high-definition network cameras deployed on the ground and underground, check site hoisting preparations, monitor and record hoisting trajectories, and assist commanders to check operation blind spots to ensure that they can grasp the images of all angles of the hoisting site to assist the crane driver in commanding the crane driver to adjust the posture of the hoisting object, so as to realize the visualization of the whole hoisting process; the hoisting real-scene monitoring system is composed of a high-definition network camera, a storage server, and a real-scene monitoring client installed in the hoisting scene;
所述虚拟引导系统,用于构建吊装虚拟预演模型,实现对吊装过程的仿真模拟与路径优化,并对吊装风险进行预估以制定吊装方案,同时在实际吊装过程中,实现实际吊装与仿真模拟的实时同步播放,以对吊装过程中出现的不安全动作与状态及时作出响应纠正;所述虚拟引导系统由人机环信息模块、路径规划模块、仿真模拟模块组成;所述人机环信息模块,用于查询/输入吊装人员、吊装机械以及吊装环境的参数; The virtual guidance system is used to build a hoisting virtual preview model, realize the simulation and path optimization of the hoisting process, and estimate the hoisting risk to formulate a hoisting plan, and at the same time, realize the actual hoisting and simulation during the actual hoisting process The real-time synchronous playback of the unsafe actions and states in the hoisting process can be responded and corrected in time; the virtual guidance system is composed of a man-machine ring information module, a path planning module, and a simulation module; the man-machine ring information module , used to query/input the parameters of hoisting personnel, hoisting machinery and hoisting environment;
所述精准定位系统,用于确保吊装物保持正确的姿态,通过应用超声波测距单元测量吊装物与工作井四周距离,用激光测距单元测量吊装物与井底距离,用角度测量单元测算吊装物倾角,将所述监测数据通过无线收发单元进行实时传输,并汇聚至客户端,实现吊装物上述测量数据的实时显示,防止吊装物发生碰撞,并对危险场景进行报警,提醒指挥人员对吊装人员发布指令,及时纠正吊装危险姿态;所述精准定位系统由超声波测距单元、激光测距单元、角度测量单元、无线收发单元、定位客户端组成; The precise positioning system is used to ensure that the hoisting object maintains a correct posture. The distance between the hoisting object and the surrounding of the working well is measured by using an ultrasonic ranging unit, the distance between the hoisting object and the bottom of the well is measured by a laser ranging unit, and the angle measurement unit is used to measure the distance between the hoisting object and the bottom of the well. The inclination angle of the object, the monitoring data is transmitted in real time through the wireless transceiver unit, and aggregated to the client to realize the real-time display of the above measurement data of the hoisting object, prevent the collision of the hoisting object, and give an alarm to the dangerous scene, reminding the commander to take care of the hoisting object. The personnel issue instructions to correct the dangerous posture of hoisting in time; the precise positioning system is composed of an ultrasonic ranging unit, a laser ranging unit, an angle measuring unit, a wireless transceiver unit, and a positioning client;
所述吊装力学分析系统,用于确认起重机、吊装场地及吊装工况受力安全性,通过接收起重机力矩限制器的参数及布设在地面及井口的应力应变传感器的数据,分析计算起重机及吊装场地的安全状态,实现对起重机及其作业环境的受力情况的可视化,并对受力超出设置限值进行预报警,防止起重机发生倾覆以及吊装场地发生结构性破坏;所述吊装力学分析系统由起重机数据接收模块、应力应变无线传感器、力学分析模块组成;所述起重机数据接收模块接收起重机力矩限制器的参数,信号来源包括力角度传感器信号、角度传感器信号、长度传感器信号;所述应力应变传感器,用于测量吊装井壁最大竖向附加应力、环向附加应力、地面局部竖向位移、井壁竖向位移及水平位移。 The hoisting mechanics analysis system is used to confirm the stress safety of the crane, the hoisting site and the hoisting working condition, and analyze and calculate the crane and the hoisting site by receiving the parameters of the crane moment limiter and the data of the stress and strain sensors arranged on the ground and at the wellhead. The safe state of the crane and its working environment can be visualized, and the pre-alarm will be given if the force exceeds the set limit, so as to prevent the crane from overturning and the structural damage of the hoisting site; the hoisting mechanics analysis system consists of a crane It consists of a data receiving module, a stress-strain wireless sensor, and a mechanical analysis module; the crane data receiving module receives the parameters of the crane moment limiter, and the signal source includes a force-angle sensor signal, an angle sensor signal, and a length sensor signal; the stress-strain sensor, It is used to measure the maximum vertical additional stress of the hoisting shaft wall, the additional circumferential stress, the local vertical displacement of the ground, the vertical displacement of the shaft wall and the horizontal displacement.
在上述实施例中,精准定位系统安装流程如下: In the above embodiment, the precise positioning system installation process is as follows:
(1)在井口两对角分别布设一个高清网络摄像机,在吊装场地的较高处布设一个高清网络摄像机,保证吊装场地全局域的可视化,摄像机与实景监控客户端无线连接,实时传输拍摄图像到实景监控客户端的显示器上; (1) A high-definition network camera is arranged at two opposite corners of the wellhead, and a high-definition network camera is arranged at a higher place in the hoisting site to ensure the visualization of the global area of the hoisting site. On the monitor of the real scene monitoring client;
(2)在刀盘的左右边缘和前后正中心安装超声波测距单元,在刀盘底部安装激光测距单元,在刀盘正中心安装角度测量单元,由上述三个装置对刀盘姿态及其和周围构筑物间距进行实时监测; (2) Install the ultrasonic ranging unit on the left and right edges and the front and rear center of the cutterhead, install the laser ranging unit at the bottom of the cutterhead, and install the angle measuring unit at the center of the cutterhead. Real-time monitoring of distance from surrounding structures;
(3)将无线收发单元的中继器放置在井口边,与上述三种测量单元、精准定位客户端无线连接; (3) Place the repeater of the wireless transceiver unit near the wellhead, and wirelessly connect with the above three measurement units and the precise positioning client;
(4)在吊装场地地面以及井口底部内侧布设应力及应变无线传感器,与吊装力学分析模块无线连接,实时传输应力应变值; (4) Arrange stress and strain wireless sensors on the ground of the hoisting site and inside the bottom of the wellhead, wirelessly connect with the hoisting mechanics analysis module, and transmit stress and strain values in real time;
(5)设备安装完成后,进行集成联网调试,保证软硬件的正常使用。 (5) After the equipment is installed, the integrated network debugging is carried out to ensure the normal use of software and hardware.
如图2所示,提供了一种大型吊装作业虚拟指挥舱的准备工作方法。现结合具体实施操作中的一次大型盾构刀盘吊装过程介绍如下: As shown in Fig. 2, a preparation method for the virtual command cabin of a large-scale hoisting operation is provided. The hoisting process of a large shield cutter head in the specific implementation operation is now introduced as follows:
第一步,依托BIM模型,对LIEBHERRLR1750型750/2吨履带式起重机及DEMAGCC2400-1型400吨履带式起重机、15.2m盾构刀盘、各类作业人员、作业环境数据建立参数化BIM模型,其中,参数包括吊装物的重量、尺寸与外形特征、地面及竖井尺寸参数与吊装人员、指挥人员的基本信息; The first step is to rely on the BIM model to establish a parametric BIM model for the LIEBHERRLR1750 750/2-ton crawler crane and DEMAGCC2400-1 400-ton crawler crane, 15.2m shield cutter head, various operators, and operating environment data. Among them, the parameters include the weight, size and shape characteristics of the lifting object, the ground and shaft size parameters, and the basic information of the lifting personnel and command personnel;
第二步,将制定的初步吊装方案在BIM模型中进行路径规划; The second step is to carry out path planning in the BIM model of the preliminary hoisting scheme formulated;
第三步,根据模拟的路径规划,结合给定的吊装工况,通过吊装力学分析系统分析计算起重机的受力情况,确认起重机及吊装工况满足安全要求; The third step is to analyze and calculate the force of the crane through the hoisting mechanics analysis system according to the simulated path planning and given hoisting conditions, and confirm that the crane and hoisting conditions meet the safety requirements;
第四步,对于仿真过程中发现的起重机离工作井边过近这一问题,将起重机位置外移,设置新的安全距离进行再仿真,直至问题得到解决; In the fourth step, for the problem that the crane is too close to the working shaft found in the simulation process, move the position of the crane outward, set a new safety distance and perform re-simulation until the problem is solved;
第五步,同理,对于仿真过程中出现的其他问题进行路径优化,直至仿真过程中不再出现问题,由此形成基于BIM的盾构刀盘可视化虚拟吊装方案; The fifth step, in the same way, optimize the path for other problems that arise in the simulation process until no more problems occur in the simulation process, thus forming a BIM-based visual virtual hoisting scheme for the shield cutterhead;
第六步,根据形成的可视化虚拟吊装方案,确认刀盘吊装的定位监测方案。 The sixth step is to confirm the positioning monitoring plan of the cutterhead hoisting according to the formed visual virtual hoisting scheme.
如图3所示,提供了一种大型吊装作业虚拟指挥舱的应用工作方法。现结合具体实施操作中的一次大型盾构刀盘吊装过程介绍如下: As shown in Figure 3, a working method for the application of a virtual command cabin for large-scale hoisting operations is provided. The hoisting process of a large shield cutter head in the specific implementation operation is now introduced as follows:
第一步,根据虚拟吊装方案将超声波测距单元、激光测距单元、角度测量单元布置在相应位置,开启三种测量单元及精准定位客户端,联网调试确定各测量单元正常工作; The first step is to arrange the ultrasonic ranging unit, laser ranging unit, and angle measuring unit in the corresponding positions according to the virtual hoisting scheme, open the three measuring units and the precise positioning client, and make sure that each measuring unit is working normally through network debugging;
第二步,开启实景监控客户端,对摄像机画面进行切换,并对摄像机进行旋转、变焦,确定各高清网络摄像机正常工作; The second step is to open the real scene monitoring client, switch the camera screen, rotate and zoom the camera, and make sure that the high-definition network cameras are working normally;
第三步,吊装开始前,指挥人员通过吊装力学分析系统确认起重机及场地是否满足起吊条件,满足则通过实景监控系统,切换监控摄像机,发现吊装场地仍有非作业人员,指挥人员通过对讲机疏散人员; Step 3: Before the hoisting starts, the commander confirms whether the crane and the site meet the hoisting conditions through the hoisting mechanics analysis system. If it is satisfied, the real scene monitoring system is used to switch the monitoring camera. When it is found that there are still non-operators in the hoisting site, the commander evacuates the personnel through the walkie-talkie ;
第四步,人员疏散后,指挥人员再次通过实景监控系统确认吊装场地以及吊装井下是否还存在安全隐患,此时已具备吊装条件,指挥人员指挥起重机驾驶员开始进行吊装; In the fourth step, after the evacuation of the personnel, the commander again confirms whether there are still potential safety hazards in the hoisting site and the hoisting underground through the real scene monitoring system.
第五步,指挥人员通过实景监控系统的画面结合虚拟引导系统同步播放的可视化虚拟吊装方案,指挥副起重机驾驶员向主吊方向前行,当前行到预定位置后,指挥人员对副吊驾驶员发出停止前进指令,并对主、副吊驾驶员同时发出缓慢起吊指令,跟踪关注刀盘的姿态,同时关注吊装力学分析系统,直至双机抬吊过程完毕; In the fifth step, the commander directs the auxiliary crane driver to move forward in the direction of the main crane through the screen of the real scene monitoring system combined with the visualized virtual hoisting scheme played synchronously by the virtual guidance system. Issue a command to stop moving forward, and issue a slow lifting command to the main and auxiliary crane drivers at the same time, track and pay attention to the attitude of the cutterhead, and pay attention to the lifting mechanics analysis system until the lifting process of the two cranes is completed;
第六步,刀盘调整到位后,主吊继续吊装,此时精准定位系统发生报警,指挥人员马上对主吊驾驶员发出暂停指令,然后分析精准定位系统中报警位置,发现刀盘的刀盘面顶部距离洞门横梁仅25cm,于是向主吊驾驶员发出缓慢向前调整的指令,直至报警消失,发出继续下吊指令; Step 6: After the cutterhead is adjusted in place, the main crane continues to hoist. At this time, the precise positioning system generates an alarm, and the commander immediately sends a pause command to the driver of the main crane, and then analyzes the alarm position in the precise positioning system, and finds that the cutterhead surface of the cutterhead is The top is only 25cm away from the crossbeam of the portal, so the main crane driver is issued an instruction to slowly adjust forward until the alarm disappears, and an instruction to continue hoisting is issued;
第七步,指挥人员通过激光测距单元得知刀盘据井底只有100cm,其向主吊驾驶员发出缓慢下吊指令,并通过实景监控系统查看刀盘具体位置,直至刀盘基本就位,向主吊驾驶员发出暂停指令,并向作业人员发出刀盘安装指令; In the seventh step, the commander knows that the cutterhead is only 100cm from the bottom of the well through the laser ranging unit, and sends a slow hoisting command to the main crane driver, and checks the specific position of the cutterhead through the real scene monitoring system until the cutterhead is basically in place. , issue a pause command to the main crane driver, and issue a cutter head installation command to the operator;
第八步,指挥人员根据实景监控系统,指挥主吊驾驶员根据刀盘安装需要进行刀盘位置微调,直至刀盘顺利安装,综上一次刀盘吊装完成。 In the eighth step, the commander directs the main hoist driver to fine-tune the position of the cutterhead according to the installation requirements of the cutterhead according to the real scene monitoring system, until the cutterhead is installed smoothly, and the last cutterhead hoisting is completed.
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