CN111694285A - Wharf 3D intelligent management and control platform suitable for marine loading and unloading arm - Google Patents
Wharf 3D intelligent management and control platform suitable for marine loading and unloading arm Download PDFInfo
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- CN111694285A CN111694285A CN202010385643.8A CN202010385643A CN111694285A CN 111694285 A CN111694285 A CN 111694285A CN 202010385643 A CN202010385643 A CN 202010385643A CN 111694285 A CN111694285 A CN 111694285A
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Abstract
The invention discloses a wharf 3D intelligent management and control platform applicable to a ship loading and unloading arm, which comprises a three-dimensional visual management subsystem, a visual identification and positioning subsystem, an automatic docking subsystem and a safety operation and maintenance prediction subsystem. The platform solves the problems that a loading and unloading arm control platform for a wharf ship is weak in function, single in system, scattered in management, scattered in data management, poor in visual display capacity, free of 3D visual accurate imaging and intelligent automatic butt joint, and low in loading and unloading operation efficiency. The three-dimensional visual management subsystem realizes the functions of model digital management, three-dimensional dynamic linkage display and integrated video monitoring, and further realizes omnibearing visual management; the visual identification positioning and automatic docking subsystem realizes automatic docking control of the loading arm and the target tanker, improves production operation efficiency and accuracy, and reduces management cost; the safety operation and maintenance prediction unifies safety alarm, early warning and part service life prediction, simplifies the processes of personnel inspection and recording, and improves the digitization and the intellectualization level.
Description
Technical Field
The invention relates to the field of wharf oil and gas loading and unloading management and control systems, in particular to the field of intelligent management and control of loading and unloading arms for wharfs and ships, and particularly relates to a wharf 3D intelligent management and control platform suitable for the loading and unloading arms for ships.
Background
At present, the management and control platform of the loading and unloading arm for the existing wharf ship is not perfect, and a lot of defects exist, such as:
1. the management function of the loading and unloading arm for the existing wharf ship is single, the loading and unloading arm generally only has a plane graph and only has an alarm detection function aiming at emergency separation, the separation alarm function under the emergency condition is only solved, all data such as loading and unloading arm state information, loading and unloading arm three-dimensional dynamic information, system equipment parameters, wharf environment information, operating personnel information, alarm information, video monitoring linkage, key equipment operation maintenance spare part information and the like cannot be monitored and processed in real time, and the comprehensive management and control of a wharf operation layer are not realized.
2. The general management adaptability of the existing loading arm is poor, and customized configuration and development can not be carried out according to different wharfs, loading arm scenes and functional requirements.
3. The data acquisition, transmission and sharing capabilities are poor, all sub-equipment such as meteorological equipment, berthing equipment, video equipment, loading and unloading arm equipment and the like are managed dispersedly, condition confirmation before and after loading and unloading is completed through manual repeated confirmation, and a uniform network communication acquisition and analysis framework is not provided.
4. The three-dimensional dynamic display of the loading and unloading arm and peripheral facilities for the wharf ship is lacked, the motion of the loading and unloading arm cannot be effectively simulated, the same-proportion modeling and digital processing of a loading and unloading model are lacked, and the data linkage with sensors on the arms such as angles, distances and the like cannot be realized.
5. The high-precision identification system and the image reconstruction algorithm for the target of the ship header flange are lacked, the dynamic precise space coordinate of the target flange cannot be mastered in real time, and data cannot be provided for the automatic track running of the loading and unloading arm and the butt joint of the flange.
6. The automatic butt-joint kinematic algorithm of the loading arm and the target tanker and the track planning of the optimized path are completely lacked, and the automatic track operation in the loading and unloading butt-joint process cannot be carried out.
7. The analysis of multiple safety alarm and early warning of the loading and unloading arm is lacked, and the statistics, analysis and prediction of the use and maintenance conditions of equipment, key parts, parts and the like of the whole loading and unloading arm are lacked, so that the loading and unloading operation has the risks of safety and shutdown.
8. If the management and control platform is integrated with four subsystems of three-dimensional visual management, visual identification and positioning, automatic docking and safe operation and maintenance prediction, the problems of insufficient visual degree, weak safety monitoring capability, intelligent automatic docking, stray information data and the like in the loading and unloading process of the LNG ship bank can be greatly solved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a wharf 3D intelligent management and control platform suitable for a ship loading and unloading arm.
The technical solution for realizing the purpose of the invention is as follows: the wharf 3D intelligent management and control platform is suitable for a ship loading and unloading arm, and comprises a three-dimensional visual management subsystem, a visual identification and positioning subsystem, an automatic docking subsystem and a safety operation and maintenance prediction subsystem;
the three-dimensional visual management subsystem is used for displaying the loading and unloading arm operation environment picture and data information in real time, displaying the loading and unloading arm operation environment three-dimensional model and realizing linkage of the three-dimensional model and the actual loading and unloading arm operation environment.
The visual identification positioning subsystem is used for positioning pose information of a target flange on a ship, detecting an obstacle in the movement process of the loading and unloading arm and transmitting the pose information and the obstacle information to the automatic docking subsystem;
the automatic docking subsystem is used for analyzing pose information and obstacle information of the shipboard target flange, acquiring a motion track of the shipboard loading and unloading arm for realizing docking of the loading and unloading arm docking flange and the shipboard target flange and an angle value of motion required by each joint of the shipboard loading and unloading arm, and transmitting the motion track and the angle value information to a motion control mechanism of the loading and unloading arm;
the safety operation and maintenance prediction subsystem is used for predicting future safety data of each component according to historical safety data of each component in the operation environment of the loading and unloading arm, making and executing a safety operation and maintenance plan according to the predicted safety data, and displaying the predicted safety data, the safety operation and maintenance plan and the safety operation and maintenance result.
Further, the three-dimensional visualization management subsystem comprises:
the data synchronization real-time visual display module is used for displaying real-time data of the loading and unloading arm working environment; the loading arm operating environment includes the loading arm itself;
the three-dimensional model module is used for constructing and displaying a three-dimensional model of the operation environment of the loading and unloading arm in the same proportion;
the model digital driving module is used for driving the loading and unloading arm operation environment three-dimensional model to be linked with an actual loading and unloading arm operation environment;
the video monitoring module is used for displaying a real-time picture of the operation environment of the loading and unloading arm;
the environment and personnel operation module is used for detecting whether the current loading and unloading arm operation environment meets the operation conditions or not, and distributing and recording the operation personnel and the operation conditions when the operation conditions are met;
and the communication module is used for realizing data communication among modules in the three-dimensional visual management subsystem and between the three-dimensional visual management subsystem and other systems.
Further, the model digital driving module drives the loading and unloading arm operation environment model to realize linkage with an actual loading and unloading arm operation environment, and the specific process comprises the following steps:
(1) a digitized three-dimensional model comprising:
analyzing each three-dimensional model capable of realizing motion in the loading and unloading arm operation environment three-dimensional model into a plurality of corresponding motion data objects;
determining respective base point coordinates of each motion model;
generating a coordinate primitive corresponding to each motion data object based on the base point coordinates;
performing matrix conversion on the coordinate primitives to realize coordinate primitive recombination, and adding actual process parameters to the coordinate primitives;
(2) performing a linkage comprising:
matching the motion data object of each motion model with the actual motion data object in a one-to-one correspondence manner;
calculating the coordinates of the current motion data object state of the motion model, which need to move when reaching the actual motion data object state;
and establishing an action script of the motion model according to the moving coordinates to realize linkage of the loading and unloading arm operation environment three-dimensional model and the actual loading and unloading arm operation environment.
Furthermore, the communication module comprises a firewall, an Ethernet bus, a redundant server, a PLC (programmable logic controller), a redundant control ring network and a communication monitoring unit; the firewall is used for connecting an external third-party network, the Ethernet bus is connected with a redundancy control ring network through a redundancy server, each submodule of the three-dimensional visual management system is connected to the Ethernet bus, and the redundancy control ring network is connected with the PLC and other external systems; the communication monitoring unit is used for monitoring whether communication among the subsystems and modules has faults in real time and giving an alarm prompt when the communication has the faults.
Further, the visual identification positioning subsystem comprises:
the rough positioning unit is used for roughly positioning the pose information of the target flange on the ship preliminarily;
and the fine positioning unit is used for further performing real-time fine positioning on the pose information of the target flange on the ship on the basis of the positioning of the coarse positioning unit, detecting the barrier in the movement process of the loading and unloading arm and transmitting the pose information and the barrier information to the automatic docking subsystem.
Furthermore, the fine positioning unit is also used for triggering an alarm signal when detecting that a moving obstacle suddenly invades in the movement process of the loading and unloading arm.
Further, the rough positioning unit realizes rough positioning of the pose information of the target flange on the ship through an infrared laser light source, and the specific process comprises the following steps:
the infrared laser light source emits laser to a target area where a target flange on a ship is located;
determining the distance of each object in the target area by measuring the transmission time ranging between the light source and the target area, thereby drawing a stereoscopic depth image of the target area;
and extracting the ship target flange from the three-dimensional depth image according to the known shape and structure characteristics of the ship target flange, and determining the pose information of the ship target flange.
Furthermore, the fine positioning unit collects images of the target flange on the ship by combining a laser 3D vision camera and a triangulation distance measuring principle, so that real-time fine positioning of the pose information of the target flange on the ship is realized.
Further, the automatic docking subsystem analyzes pose information and obstacle information of the shipboard target flange, and the specific process comprises the following steps:
analyzing the configuration of the loading and unloading arm by using a D-H representation method, and establishing a position coordinate system of a movable joint of the loading and unloading arm;
performing forward kinematics analysis and inverse kinematics calculation according to the pose information of the target flange on the ship;
planning the movement track of the loading and unloading arm according to the barrier information acquired by the visual identification positioning subsystem;
and reversely calculating the angle value of the motion required by each joint of the loading and unloading arm according to the motion track of the loading and unloading arm.
Further, the safe operation and maintenance prediction subsystem comprises:
the fault prediction module is used for predicting future fault information of each component according to historical fault data of each component, wherein the future fault information comprises the type of the fault and the period of occurrence of the fault; setting a plurality of fault monitoring time periods according to the period;
the disadvantaged trend prediction module is used for predicting the disadvantaged trend of the component according to the period of the occurrence of the fault, determining a time period when the disadvantaged trend value is lower than a preset threshold value, and recording the time period as a disadvantaged trend monitoring time period;
the service life prediction module is used for predicting the service life information of the currently used component according to the service life information of the historically used component and setting a service life monitoring time period according to the service life endpoint;
the safety monitoring module is used for automatically triggering work within the fault monitoring time period or the disadvantaged trend monitoring time period or the service life monitoring time period, monitoring the running state of the component at any time, giving an alarm in time when unsafe factors occur, and sending an early warning instruction to the safety maintenance planning unit; the unsafe factors include failure, depreciation trend, and life time; the unsafe factors are derived from an unsafe factor library which is customized and constructed by a user and corresponds to each part, and each unsafe factor in the library corresponds to multiple levels of unsafe levels; the early warning instruction comprises an unsafe factor and an unsafe level corresponding to the unsafe factor;
the safety maintenance planning module is used for making a safety maintenance planning table according to the early warning instruction information, wherein the planning table comprises parameters and position information of the parts, unsafe factors and unsafe levels corresponding to the parameters and the position information, a pre-inspection mode, pre-inspection time and pre-inspection personnel; the pre-overhauling mode comprises maintaining and repairing the current component, replacing the same type of component or other types of components; the pre-overhauling mode is selected in a self-defining mode according to the unsafe factors and the unsafe levels corresponding to the unsafe factors;
and the safety maintenance execution and recording module is used for distributing safety maintenance tasks according to the safety maintenance schedule and updating a safety maintenance record table after each safety maintenance, and the record table comprises parameters and position information of the parts and corresponding maintenance modes, maintenance time, maintenance results and maintenance personnel.
Compared with the prior art, the invention has the following remarkable advantages: 1) the wharf 3D intelligent management and control platform suitable for the marine loading and unloading arm is provided, and the problems that the wharf marine loading and unloading arm management and control platform is weak in function, single in system, scattered in management, scattered in data management, poor in visual display capacity, free of 3D visual accurate imaging and intelligent automatic butt joint and low in loading and unloading operation efficiency are solved; 2) the three-dimensional visual management subsystem realizes the functions of model digital management, three-dimensional dynamic linkage display and integrated video monitoring, thereby realizing omnibearing visual management; 3) the visual identification positioning and automatic docking subsystem realizes automatic docking control of the loading arm and the target tanker, improves production operation efficiency and accuracy, and reduces management cost; 4) the safety operation and maintenance prediction unifies safety alarm, early warning and part service life prediction, simplifies the processes of personnel inspection and recording, and improves the digitization and the intellectualization level.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a schematic configuration diagram of a wharf 3D intelligent management and control platform suitable for a ship loading and unloading arm in one embodiment.
FIG. 2 is a flow diagram of automatic docking and model linking in one embodiment.
FIG. 3 is a schematic diagram of the mounting locations of the components of the visual identification and positioning subsystem in one embodiment.
Fig. 4 is a diagram of a wharf 3D intelligent management and control platform architecture suitable for a ship loading arm in one embodiment.
Fig. 5 is a schematic structural diagram of a dock 3D intelligent management and control platform suitable for a ship loading and unloading arm in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The wharf 3D intelligent control platform architecture applicable to the ship loading and unloading arm is developed as shown in fig. 4, and can be divided into 5 layers from bottom to top: the device comprises a data acquisition layer, a data transmission layer, a data layer, a function application layer and a display layer. The data acquisition layer mainly relies on equipment such as pressure sensor, temperature sensor, rotary encoder, photoelectric sensor, limit switch, angle encoder, intelligent instrument, camera to gather relevant data, thereby the data transmission layer accomplishes the storage of data with the data transmission who gathers to the data layer. The function application layer realizes the functions of three-dimensional visual management, visual identification and positioning, position analysis and automatic docking, safe operation and maintenance prediction and the like according to corresponding database data, and the display layer is mainly responsible for issuing and displaying visual information, dynamically and visually displaying a model and the like.
In one embodiment, in combination with fig. 1, a dock 3D intelligent management and control platform suitable for a ship loading and unloading arm is provided, and the platform comprises a three-dimensional visual management subsystem, a visual recognition positioning subsystem, an automatic docking subsystem and a safety operation and maintenance prediction subsystem;
the three-dimensional visual management subsystem is used for displaying the loading and unloading arm operation environment picture and data information in real time, displaying the loading and unloading arm operation environment three-dimensional model and realizing linkage of the three-dimensional model and the actual loading and unloading arm operation environment.
Here, the linkage includes an operation linkage of a moving member such as a loading/unloading arm, a data linkage, and the like.
The visual identification positioning subsystem is used for positioning pose information of a target flange on a ship, detecting an obstacle in the movement process of the loading and unloading arm and transmitting the pose information and the obstacle information to the automatic docking subsystem;
the automatic docking subsystem is used for analyzing pose information and obstacle information of the shipboard target flange, acquiring a motion track of the shipboard loading and unloading arm for realizing docking of the loading and unloading arm docking flange and the shipboard target flange and an angle value of motion required by each joint of the shipboard loading and unloading arm, and transmitting the motion track and the angle value information to a motion control mechanism of the loading and unloading arm;
the safety operation and maintenance prediction subsystem is used for predicting future safety data of each component according to historical safety data of each component in the operation environment of the loading and unloading arm, making and executing a safety operation and maintenance plan according to the predicted safety data, and displaying the predicted safety data, the safety operation and maintenance plan and the safety operation and maintenance result.
Further, in one embodiment, the three-dimensional visualization management subsystem comprises:
the data synchronization real-time visual display module is used for displaying real-time data of the loading and unloading arm working environment; the loading arm operating environment includes the loading arm itself;
here, the real-time data includes: environmental conditions of the work environment (temperature, relative humidity, wind direction, wind speed, wave height, recent temperature and wave height variation trend, etc.), ship-shore information (relative angle between ship and dock, ship-shore distance, ship name, nationality, etc.), operator information, etc.; the motion data of the loading and unloading arm and the operation link of the loading and unloading arm (the operation link depends on the actual operation environment, such as the loading and unloading arm is in a floating state, in an automatic docking/manual docking state, in a docking confirmation state, etc.), the parameter information of each device for driving the loading and unloading arm to work, etc.
The three-dimensional model module is used for constructing and displaying a three-dimensional model of the operation environment of the loading and unloading arm in the same proportion;
the three-dimensional model module supports the three-dimensional model directly imported into the model library, so that the compatibility of the system is improved, the difficulty of model construction is reduced, and the efficiency of model construction is improved.
Here, three-dimensional models are supported that import various types (e.g.,. three-dimensional s,. lwo,. obj,. objx,. stl,. off, etc.) of files.
The model digital driving module is used for driving the loading and unloading arm operation environment three-dimensional model to be linked with an actual loading and unloading arm operation environment;
the motion state of each part of the loading and unloading arm operation environment can be displayed in real time in a three-dimensional mode through linkage, visual monitoring of the whole flow of LNG ship-shore loading and unloading operation is achieved, and LNG loading and unloading operation flow information can be known visually, conveniently and efficiently.
The video monitoring module is used for displaying a real-time picture of the operation environment of the loading and unloading arm;
the environment and personnel operation module is used for detecting whether the current loading and unloading arm operation environment meets the operation conditions or not, and distributing and recording the operation personnel and the operation conditions when the operation conditions are met;
and judging whether the operation conditions are met or not by comparing the actually acquired wharf hydrometeorology environment information such as wind power, surge and the like with the self-defined operation standard.
Here, centralized management of the environment and the person can be realized.
And the communication module is used for realizing data communication among modules in the three-dimensional visual management subsystem and between the three-dimensional visual management subsystem and other systems.
Further, in one embodiment, the three-dimensional visualization management subsystem further includes an early warning module, which is configured to collect and record real-time warning information of each warning device in the loading and unloading arm working environment, and perform sound and light warning prompt at the same time.
Further, in one embodiment, the three-dimensional model module comprises:
the first window control unit is used for setting the number of windows for displaying the loading and unloading arm operation environment three-dimensional models in a self-defined manner, and respectively displaying the loading and unloading arm operation environment three-dimensional models in different directions and different fields of view through multiple windows;
and/or the first switching unit is used for switching and displaying the loading and unloading arm working environment three-dimensional models in different directions and different fields of view in the same window.
By adopting the scheme of the embodiment, the omnibearing observation model can be realized.
Further, in one embodiment, the model digital driving module drives the loading and unloading arm working environment model to be linked with an actual loading and unloading arm working environment, and the specific process includes:
(1) a digitized three-dimensional model comprising:
analyzing each three-dimensional model capable of realizing motion in the loading and unloading arm operation environment three-dimensional model into a plurality of corresponding motion data objects;
determining respective base point coordinates of each motion model;
generating a coordinate primitive corresponding to each motion data object based on the base point coordinates;
performing matrix conversion on the coordinate primitives to realize coordinate primitive recombination, and adding actual process parameters to the coordinate primitives;
(2) performing a linkage comprising:
matching the motion data object of each motion model with the actual motion data object in a one-to-one correspondence manner;
calculating the coordinates of the current motion data object state of the motion model, which need to move when reaching the actual motion data object state;
and establishing an action script of the motion model according to the moving coordinates to realize linkage of the loading and unloading arm operation environment three-dimensional model and the actual loading and unloading arm operation environment.
Further, in one embodiment, the video monitoring module comprises:
the second window control unit is used for setting the number of video monitoring windows in a user-defined manner and respectively displaying the loading and unloading arm operation environments in a plurality of different directions and different fields of view through a plurality of windows;
and/or the second switching unit is used for switching and displaying the loading and unloading arm working environments in different directions and different fields of view in the same window.
Here, the video monitoring module may also include all functions of existing video monitoring, such as maximum minimization, full screen, video playback, video fast forward and fast backward, screenshot, focus zoom, and the like.
Further, in one embodiment, the communication module includes a firewall, an ethernet bus, a redundant server, a PLC controller, a redundant control ring network, and a communication monitoring unit; the firewall is used for connecting an external third-party network, the Ethernet bus is connected with a redundancy control ring network through a redundancy server, each submodule of the three-dimensional visual management system is connected to the Ethernet bus, and the redundancy control ring network is connected with the PLC and other external systems; the communication monitoring unit is used for monitoring whether communication among the subsystems and modules has faults in real time and giving an alarm prompt when the communication has the faults.
Further, in one embodiment, the visual identification positioning subsystem comprises:
the rough positioning unit is used for roughly positioning the pose information of the target flange on the ship preliminarily;
and the fine positioning unit is used for further performing real-time fine positioning on the pose information of the target flange on the ship on the basis of the positioning of the coarse positioning unit, detecting the barrier in the movement process of the loading and unloading arm and transmitting the pose information and the barrier information to the automatic docking subsystem.
Here, the coarse positioning unit and the fine positioning unit may employ a vision camera.
As a specific example, referring to FIG. 3, the coarse positioning vision camera may be disposed on the column 1-1 of the loading and unloading arm body, and the fine positioning vision camera may be disposed on the three-dimensional rotary joint 2-1 mounted at the end of the loading and unloading arm to drive the loading and unloading arm docking flange 3-1 to move.
Further, in one embodiment, the fine positioning unit is further configured to trigger an alarm signal when a sudden intrusion of a moving obstacle during the movement of the loading and unloading arm is detected.
Further, in one embodiment, the coarse positioning unit achieves coarse positioning of the pose information of the target flange on the ship through the infrared laser light source, and the specific process includes:
the infrared laser light source emits laser to a target area where a target flange on a ship is located;
determining the distance of each object in the target area by measuring the transmission time ranging between the light source and the target area, thereby drawing a stereoscopic depth image of the target area;
and extracting the ship target flange from the three-dimensional depth image according to the known shape and structure characteristics of the ship target flange, and determining the pose information of the ship target flange.
By adopting the scheme of the embodiment, the error precision can be controlled within +/-5 cm of the position and +/-5 degrees of the angle of the coarse positioning pose information of the target flange.
Further, in one embodiment, the fine positioning unit collects images of the target flange on the ship by combining a laser 3D vision camera and a triangulation distance measuring principle, so as to realize real-time fine positioning of the pose information of the target flange on the ship.
By adopting the scheme of the embodiment, the error precision can be controlled within +/-2 cm of the position and +/-2 degrees of the angle of the coarse positioning pose information of the target flange.
Further, in one embodiment, with reference to fig. 2, the automatic docking subsystem analyzes pose information and obstacle information of the target flange on the ship, and the specific process includes:
analyzing the configuration of the loading and unloading arm by using a D-H representation method, and establishing a position coordinate system of a movable joint of the loading and unloading arm;
performing forward kinematics analysis and inverse kinematics calculation according to the pose information of the target flange on the ship;
planning the movement track of the loading and unloading arm according to the barrier information acquired by the visual identification positioning subsystem;
specifically, trajectory planning and obstacle avoidance are performed on potential risks such as collision, separation from a normal working area, interference of multi-arm actions and the like which may occur according to the obstacle position information identified by the 3D vision, and the main method is to design an obstacle avoidance path in a Cartesian space and then insert given function parameters, wherein the parameters are coordinate parameters of each point of the path;
and reversely calculating the angle value of the motion required by each joint of the loading and unloading arm according to the motion track of the loading and unloading arm.
The automatic butt joint can select an optimal action path from barrier-free paths, and transmits an operation result to an executing mechanism to realize accurate automatic butt joint; meanwhile, the interference area track is defined for potential risks such as collision, separation from a normal working area, interference of multi-arm action and the like which may occur, and prejudgment, alarm and emergency treatment are carried out, so that the safety of the motion process is ensured.
Further, in one embodiment, the safe operation and maintenance prediction subsystem includes:
the fault prediction module is used for predicting future fault information of each component according to historical fault data of each component, wherein the future fault information comprises the type of the fault and the period of occurrence of the fault; setting a plurality of fault monitoring time periods according to the period;
the disadvantaged trend prediction module is used for predicting the disadvantaged trend of the component according to the period of the occurrence of the fault, determining a time period when the disadvantaged trend value is lower than a preset threshold value, and recording the time period as a disadvantaged trend monitoring time period;
the service life prediction module is used for predicting the service life information of the currently used component according to the service life information of the historically used component and setting a service life monitoring time period according to the service life endpoint;
the safety monitoring module is used for automatically triggering work within the fault monitoring time period or the disadvantaged trend monitoring time period or the service life monitoring time period, monitoring the running state of the component at any time, giving an alarm in time when unsafe factors occur, and sending an early warning instruction to the safety maintenance planning unit; the unsafe factors include failure, depreciation trend, and life time; the unsafe factors are derived from an unsafe factor library which is customized and constructed by a user and corresponds to each part, and each unsafe factor in the library corresponds to multiple levels of unsafe levels; the early warning instruction comprises an unsafe factor and an unsafe level corresponding to the unsafe factor;
the safety maintenance planning module is used for making a safety maintenance planning table according to the early warning instruction information, wherein the planning table comprises parameters and position information of the parts, unsafe factors and unsafe levels corresponding to the parameters and the position information, a pre-inspection mode, pre-inspection time and pre-inspection personnel; the pre-overhauling mode comprises maintaining and repairing the current component, replacing the same type of component or other types of components; the pre-overhauling mode is selected in a self-defining mode according to the unsafe factors and the unsafe levels corresponding to the unsafe factors;
and the safety maintenance execution and recording module is used for distributing safety maintenance tasks according to the safety maintenance schedule and updating a safety maintenance record table after each safety maintenance, and the record table comprises parameters and position information of the parts and corresponding maintenance modes, maintenance time, maintenance results and maintenance personnel.
As a specific example, in one embodiment, a dock 3D intelligent management and control platform suitable for a ship loading and unloading arm is provided as shown in fig. 5, and the platform comprises a loading and unloading arm 1, a laser camera 2, a laser 3D camera 3, an explosion-proof rotary encoder 4, an explosion-proof junction box 5, a PLC control cabinet 6, a video monitoring head 7, a server 8 and a client 9; the loading and unloading arm 1 is positioned at the quayside of a wharf, the laser camera 2 is installed on an upright post of the loading and unloading arm, the laser 3D camera 3 is installed at the foremost end of the loading and unloading arm, the explosion-proof rotary encoder 4 is installed at each joint of the loading and unloading arm, the explosion-proof junction box 5 is installed at the bottom end of the loading and unloading arm, signals of the explosion-proof rotary encoder 4 are connected into the PLC control cabinet 6, and signals of the laser camera 2 and the laser 3D camera 3 are connected into the PLC control cabinet 6 and then are connected into the server 8 through a network cable; the PLC control cabinet 6 is connected with the server 8 through a network cable to collect signals and receive instructions; software of the 3D intelligent control platform is installed in the server 8, the software internally comprises a visual identification positioning algorithm and an automatic docking algorithm, and a software interface is issued to each client 9 through a server issuing mode well known to professional technicians.
Furthermore, the anti-explosion rotary encoder 4 transmits elevation angle floating information of the loading and unloading arm 1 to the PLC control cabinet 6, the PLC processes the elevation angle floating information and transmits the elevation angle floating information to the 3D intelligent control platform software, and then a model in the software can act according to the actual loading and unloading arm action; the laser camera 2 and the laser 3D camera 3 are directly connected with a server 8 of an upper computer through signals and used for transmitting information of a docking interface target to a visual identification positioning algorithm, transmitting the calculated coordinate information to an automatic docking algorithm, checking out the joint angle of a loading arm needing to be driven by the PLC, sending a command to the PLC control cabinet 6 to control, and driving the loading arm to complete automatic docking with a ship body.
The 3D intelligent management and control platform solves the problems that a loading and unloading arm management and control platform for a wharf ship is weak in function, single in system, scattered in management, scattered in data management, poor in visual display capacity, free of 3D visual accurate imaging and intelligent automatic butt joint, and low in loading and unloading operation efficiency. The three-dimensional visual management subsystem realizes the functions of model digital management, three-dimensional dynamic linkage display and integrated video monitoring, and further realizes omnibearing visual management; the visual identification positioning and automatic docking subsystem realizes automatic docking control of the loading arm and the target tanker, improves production operation efficiency and accuracy, and reduces management cost; the safety operation and maintenance prediction unifies safety alarm, early warning and part service life prediction, simplifies the processes of personnel inspection and recording, and improves the digitization and the intellectualization level.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The wharf 3D intelligent management and control platform is suitable for a ship loading and unloading arm and is characterized by comprising a three-dimensional visual management subsystem, a visual identification and positioning subsystem, an automatic docking subsystem and a safety operation and maintenance prediction subsystem;
the three-dimensional visual management subsystem is used for displaying the loading and unloading arm operation environment picture and data information in real time, displaying the loading and unloading arm operation environment three-dimensional model and realizing linkage of the three-dimensional model and the actual loading and unloading arm operation environment;
the visual identification positioning subsystem is used for positioning pose information of a target flange on a ship, detecting an obstacle in the movement process of the loading and unloading arm and transmitting the pose information and the obstacle information to the automatic docking subsystem;
the automatic docking subsystem is used for analyzing pose information and obstacle information of the shipboard target flange, acquiring a motion track of the shipboard loading and unloading arm for realizing docking of the loading and unloading arm docking flange and the shipboard target flange and an angle value of motion required by each joint of the shipboard loading and unloading arm, and transmitting the motion track and the angle value information to a motion control mechanism of the loading and unloading arm;
the safety operation and maintenance prediction subsystem is used for predicting future safety data of each component according to historical safety data of each component in the operation environment of the loading and unloading arm, making and executing a safety operation and maintenance plan according to the predicted safety data, and displaying the predicted safety data, the safety operation and maintenance plan and the safety operation and maintenance result.
2. The dock 3D intelligent management and control platform suitable for a ship loading and unloading arm of claim 1, wherein the three-dimensional visualization management subsystem comprises:
the data synchronization real-time visual display module is used for displaying real-time data of the loading and unloading arm working environment; the loading arm operating environment includes the loading arm itself;
the three-dimensional model module is used for constructing and displaying a three-dimensional model of the operation environment of the loading and unloading arm in the same proportion;
the model digital driving module is used for driving the loading and unloading arm operation environment three-dimensional model to be linked with an actual loading and unloading arm operation environment;
the video monitoring module is used for displaying a real-time picture of the operation environment of the loading and unloading arm;
the environment and personnel operation module is used for detecting whether the current loading and unloading arm operation environment meets the operation conditions or not, and distributing and recording the operation personnel and the operation conditions when the operation conditions are met;
and the communication module is used for realizing data communication among modules in the three-dimensional visual management subsystem and between the three-dimensional visual management subsystem and other systems.
3. The dock 3D intelligent management and control platform suitable for a ship loading and unloading arm according to claim 2, wherein the model digitization driving module drives the loading and unloading arm working environment model to realize linkage with an actual loading and unloading arm working environment, and the specific process comprises:
(1) a digitized three-dimensional model comprising:
analyzing each three-dimensional model capable of realizing motion in the loading and unloading arm operation environment three-dimensional model into a plurality of corresponding motion data objects;
determining respective base point coordinates of each motion model;
generating a coordinate primitive corresponding to each motion data object based on the base point coordinates;
performing matrix conversion on the coordinate primitives to realize coordinate primitive recombination, and adding actual process parameters to the coordinate primitives;
(2) performing a linkage comprising:
matching the motion data object of each motion model with the actual motion data object in a one-to-one correspondence manner;
calculating the coordinates of the current motion data object state of the motion model, which need to move when reaching the actual motion data object state;
and establishing an action script of the motion model according to the moving coordinates to realize linkage of the loading and unloading arm operation environment three-dimensional model and the actual loading and unloading arm operation environment.
4. The dock 3D intelligent management and control platform suitable for a ship loading and unloading arm according to claim 2, wherein the communication module comprises a firewall, an Ethernet bus, a redundant server, a PLC controller, a redundant control ring network and a communication monitoring unit; the firewall is used for connecting an external third-party network, the Ethernet bus is connected with a redundancy control ring network through a redundancy server, each submodule of the three-dimensional visual management system is connected to the Ethernet bus, and the redundancy control ring network is connected with the PLC and other external systems; the communication monitoring unit is used for monitoring whether communication among the subsystems and modules has faults in real time and giving an alarm prompt when the communication has the faults.
5. The dock 3D intelligent management and control platform that is suitable for a marine loading and unloading arm of claim 1, wherein the visual identification positioning subsystem comprises:
the rough positioning unit is used for roughly positioning the pose information of the target flange on the ship preliminarily;
and the fine positioning unit is used for further performing real-time fine positioning on the pose information of the target flange on the ship on the basis of the positioning of the coarse positioning unit, detecting the barrier in the movement process of the loading and unloading arm and transmitting the pose information and the barrier information to the automatic docking subsystem.
6. The dock 3D intelligent management and control platform suitable for ship loading and unloading arms of claim 5, wherein the fine positioning unit is further used for triggering an alarm signal when a sudden invasion of a movement obstacle during the movement of the loading and unloading arm is detected.
7. The dock 3D intelligent management and control platform suitable for ship loading and unloading arm of claim 5, wherein the coarse positioning unit is used for coarsely positioning pose information of a target flange on a ship through an infrared laser light source, and the specific process comprises:
the infrared laser light source emits laser to a target area where a target flange on a ship is located;
determining the distance of each object in the target area by measuring the transmission time ranging between the light source and the target area, thereby drawing a stereoscopic depth image of the target area;
and extracting the ship target flange from the three-dimensional depth image according to the known shape and structure characteristics of the ship target flange, and determining the pose information of the ship target flange.
8. The wharf 3D intelligent management and control platform suitable for the ship loading and unloading arm according to claim 5, wherein the fine positioning unit collects images of a target flange on a ship through a laser 3D vision camera in combination with a triangulation ranging principle, so that real-time fine positioning of pose information of the target flange on the ship is achieved.
9. The wharf 3D intelligent management and control platform applicable to the ship loading and unloading arm according to claim 1 or 5, wherein the automatic docking subsystem resolves pose information and obstacle information of the ship target flange, and the specific process includes:
analyzing the configuration of the loading and unloading arm by using a D-H representation method, and establishing a position coordinate system of a movable joint of the loading and unloading arm;
performing forward kinematics analysis and inverse kinematics calculation according to the pose information of the target flange on the ship;
planning the movement track of the loading and unloading arm according to the barrier information acquired by the visual identification positioning subsystem;
and reversely calculating the angle value of the motion required by each joint of the loading and unloading arm according to the motion track of the loading and unloading arm.
10. The dock 3D intelligent management and control platform for a marine loading and unloading arm of claim 1, wherein the safe operation and maintenance prediction subsystem comprises:
the fault prediction module is used for predicting future fault information of each component according to historical fault data of each component, wherein the future fault information comprises the type of the fault and the period of occurrence of the fault; setting a plurality of fault monitoring time periods according to the period;
the disadvantaged trend prediction module is used for predicting the disadvantaged trend of the component according to the period of the occurrence of the fault, determining a time period when the disadvantaged trend value is lower than a preset threshold value, and recording the time period as a disadvantaged trend monitoring time period;
the service life prediction module is used for predicting the service life information of the currently used component according to the service life information of the historically used component and setting a service life monitoring time period according to the service life endpoint;
the safety monitoring module is used for automatically triggering work within the fault monitoring time period or the disadvantaged trend monitoring time period or the service life monitoring time period, monitoring the running state of the component at any time, giving an alarm in time when unsafe factors occur, and sending an early warning instruction to the safety maintenance planning unit; the unsafe factors include failure, depreciation trend, and life time; the unsafe factors are derived from an unsafe factor library which is customized and constructed by a user and corresponds to each part, and each unsafe factor in the library corresponds to multiple levels of unsafe levels; the early warning instruction comprises an unsafe factor and an unsafe level corresponding to the unsafe factor;
the safety maintenance planning module is used for making a safety maintenance planning table according to the early warning instruction information, wherein the planning table comprises parameters and position information of the parts, unsafe factors and unsafe levels corresponding to the parameters and the position information, a pre-inspection mode, pre-inspection time and pre-inspection personnel; the pre-overhauling mode comprises maintaining and repairing the current component, replacing the same type of component or other types of components; the pre-overhauling mode is selected in a self-defining mode according to the unsafe factors and the unsafe levels corresponding to the unsafe factors;
and the safety maintenance execution and recording module is used for distributing safety maintenance tasks according to the safety maintenance schedule and updating a safety maintenance record table after each safety maintenance, and the record table comprises parameters and position information of the parts and corresponding maintenance modes, maintenance time, maintenance results and maintenance personnel.
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