CN113213342A - Hoisting machinery anti-collision system and method based on Internet of things and geometric model - Google Patents
Hoisting machinery anti-collision system and method based on Internet of things and geometric model 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
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
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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
- B66C13/46—Position indicators for suspended loads or for crane elements
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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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
The application provides an anti-collision system and method for hoisting machinery based on the Internet of things and a geometric model. The system comprises: the system comprises a data acquisition unit, an Internet of things gateway and a data analysis unit; the data acquisition unit and the data analysis unit are respectively in communication connection with the gateway of the Internet of things; the data acquisition unit is arranged on a moving part of the hoisting machinery, can monitor the pose of the moving part in real time, and sends the monitored pose data to the data analysis unit through the internet of things gateway; the data analysis unit can synchronously adjust a geometric model which is preset in the data analysis unit and corresponds to the hoisting machinery according to the received pose data so as to synchronously detect collision of the hoisting machinery. Therefore, the potential interference collision danger possibly existing in the running process of the hoisting machinery is eliminated, and the running safety of the hoisting machinery is effectively improved.
Description
Technical Field
The application relates to the technical field of mechanical collision monitoring, in particular to an anti-collision system and method for hoisting machinery based on the Internet of things and a geometric model.
Background
The hoisting machine is a multi-action machine for lifting and horizontally carrying heavy objects in a certain range, and is increasingly widely applied to various industries and fields. The hoisting machine mainly comprises a hoisting mechanism, an operating mechanism, a luffing mechanism, a slewing mechanism, a metal mechanism and the like, wherein the hoisting mechanism is a basic working mechanism, mostly consists of a hanging system and a winch, and also can lift heavy objects through a hydraulic system; the running mechanism is used for longitudinally and horizontally moving a heavy object or adjusting the working position of the crane; the amplitude variation mechanism is arranged on an arm support of the hoisting machinery; the swing mechanism is used for enabling the arm support to swing; the metal structure is a framework of a crane.
Because the hoisting machinery has more moving parts and larger working space, when the hoisting machinery runs, the hoisting machinery is easy to collide with other working equipment or buildings, and safety accidents occur.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The application aims to provide an anti-collision system and method for hoisting machinery based on the Internet of things and a geometric model, so as to solve or relieve the problems in the prior art.
In order to achieve the above purpose, the present application provides the following technical solutions:
the application provides hoisting machinery anticollision system based on thing networking and geometric model includes: the system comprises a data acquisition unit, an Internet of things gateway and a data analysis unit; the data acquisition unit and the data analysis unit are respectively in communication connection with the gateway of the Internet of things; the data acquisition unit is arranged on a moving part of the hoisting machinery, can monitor the pose of the moving part in real time, and sends the monitored pose data to the data analysis unit through the internet of things gateway; the data analysis unit can synchronously adjust a geometric model which is preset in the data analysis unit and corresponds to the hoisting machinery according to the received pose data so as to synchronously detect collision of the hoisting machinery.
Preferably, the data analysis unit is further configured to perform synchronous calculation on distances between different parts of a geometric model corresponding to the hoisting machinery preset in the data analysis unit according to the received pose data, so as to perform synchronous collision detection on the hoisting machinery.
Preferably, the data analysis unit is further configured to perform synchronous batch calculation on distances between different components of the geometric model based on the point cloud data of the geometric model according to the received pose data.
Preferably, the data analysis unit is further configured to perform a synchronous collision detection on the hoisting machine according to a minimum distance between different components of the geometric model.
Preferably, the hoisting machinery anti-collision system based on the internet of things and the geometric model further includes: the alarm unit is in communication connection with the data analysis unit and is configured to alarm according to an alarm instruction sent by the data analysis unit; wherein the data analysis unit issues the alarm instruction in response to a distance between different components of the geometric model being less than a preset distance.
Preferably, the predetermined distance is 1000 mm.
Preferably, the data acquisition unit is an encoder; correspondingly, the moving part comprises: the device comprises a gantry, a rotary platform, an arm support mechanism and a cart; the encoders are mounted on the gantry, the rotary platform, the boom mechanism and the cart and are respectively used for monitoring position coordinates of the gantry, the rotary platform, the boom mechanism and the cart in real time.
Preferably, the hoisting machinery anti-collision system based on the internet of things and the geometric model further includes: and the collision display unit is in communication connection with the data analysis unit and is configured to display the collision detection of the hoisting machinery in real time based on OpenGL.
The embodiment of the application further provides a hoisting machinery anti-collision method based on the internet of things and the geometric model, which comprises the following steps: monitoring the pose of a moving part of the hoisting machinery in real time, and acquiring pose data of the moving part; and according to the pose data, synchronously adjusting a preset geometric model corresponding to the hoisting machinery so as to synchronously detect collision of the hoisting machinery.
Preferably, the step of synchronously adjusting a preset geometric model corresponding to the hoisting machine according to the pose data to perform synchronous collision detection on the hoisting machine specifically includes: and synchronously calculating the distances between different preset parts of the geometric model corresponding to the hoisting machinery according to the received pose data so as to synchronously detect the collision of the hoisting machinery.
Has the advantages that:
according to the technical scheme provided by the embodiment of the application, the pose which cannot be obtained by movement is monitored in real time through the data acquisition unit arranged on the moving part of the hoisting machinery, and the pose data of the moving part is acquired; according to the real-time pose data of the moving part, synchronously adjusting a preset geometric model corresponding to the hoisting machinery; synchronous collision detection of the hoisting machinery is realized through motion interference analysis of a geometric model corresponding to the hoisting machinery, so that the potential interference collision danger possibly existing in the running process of the hoisting machinery is eliminated, and the running safety of the hoisting machinery is effectively improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
fig. 1 is a schematic structural diagram of a hoisting machinery collision avoidance system based on an internet of things and a geometric model according to some embodiments of the present application;
FIG. 2 is a schematic view of an encoder installation on a gantry crane provided in accordance with some embodiments of the present application;
FIG. 3 is a schematic illustration of an encoder installation on a shore bridge crane provided in accordance with some embodiments of the present application;
FIG. 4 is a schematic view of an encoder mounted on a gantry crane according to some embodiments of the present application;
fig. 5 is a schematic flow chart of a hoisting machine anti-collision method based on the internet of things and a geometric model according to some embodiments of the present application.
Description of reference numerals:
101-a data acquisition unit; 102-an internet of things gateway; 103-a data analysis unit; 104-an alarm unit; 105-collision display unit.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
Fig. 1 is a schematic structural diagram of a hoisting machinery collision avoidance system based on an internet of things and a geometric model according to some embodiments of the present application; as shown in fig. 1, the hoisting machinery anti-collision system based on the internet of things and the geometric model includes: the system comprises a data acquisition unit 101, an Internet of things gateway 102 and a data analysis unit 103; the data acquisition unit 101 and the data analysis unit 103 are respectively in communication connection with the internet of things gateway 102; the data acquisition unit 101 is installed on a moving part of the hoisting machinery, can monitor the pose of the moving part in real time, and sends the monitored pose data to the data analysis unit 103 through the internet of things gateway 102; the data analysis unit 103 can perform synchronous adjustment on a geometric model corresponding to the hoisting machinery, which is preset in the data analysis unit 103, according to the received pose data, so as to perform synchronous collision detection on the hoisting machinery.
In the implementation of the application, the data acquisition unit 101 and the data analysis unit 103 are connected through the internet of things gateway 102, so that different types of sensing networks in the data acquisition unit 101 and the data analysis unit 103 can be subjected to rapid protocol conversion, interconnection and intercommunication are realized, and remote control on different and multiple hoisting machines is realized.
In the embodiment of the present application, the data acquisition unit 101 may employ an encoder, such as: the system comprises a rotary encoder, an angle sensor and the like, and is used for monitoring the poses of moving parts in different moving modes in real time. When the hoisting machinery is a gantry crane (as shown in fig. 2) or a shore bridge crane (as shown in fig. 3), the encoder is mainly installed on the traveling mechanism of the hoisting machinery, for example, the rotary encoder is arranged on the traveling mechanism of the hoisting machinery, specifically, the rotary encoder is coaxially arranged with the traveling wheels of the traveling mechanism, so that the position of the hoisting machinery on the traveling track can be effectively monitored in real time.
In the embodiment of the present application, when the hoisting machine is a gantry crane (as shown in fig. 4), the moving parts are mainly: the device comprises a gantry, a rotary platform, an arm support mechanism and a cart; encoders are mounted on the gantry, the rotary platform, the arm support mechanism and the cart and are respectively used for monitoring position coordinates of the gantry, the rotary platform, the arm support mechanism and the cart in real time. Here, the angle sensor is disposed on a rotating platform (e.g., a rotating support) of the gantry crane, thereby realizing real-time monitoring of the rotating angle of the gantry crane. Or the angle sensor is arranged on the arm support mechanism of the portal crane, so that the pitching angle of the arm support mechanism can be effectively monitored in real time.
In the embodiment of the application, the jib mechanism of the portal jib crane is a four-bar linkage mechanism consisting of the jib, the propeller strut, the large pull rod and the small pull rod, and the encoder can be arranged on a gear rack for driving the jib structure to move, so that the pose data of the jib mechanism (the position of the four-bar linkage mechanism is determined) can be obtained through the displacement of the gear rack.
In this embodiment of the application, the pose data of the moving component acquired by the data acquisition unit 101 includes data of a real-time position and a real-time posture of the moving component, the pose data may be stored in the storage unit, and the data analysis unit 103 is connected to the Mysql database in the storage unit to perform real-time query on the pose data. The frequency of querying the attitude and position data by the data analysis unit 103 can be adjusted in real time according to the operating state of the hoisting machine. The pose data is stored in the storage unit for at least half a year, and the data analysis unit 103 can call data at any time to play back and analyze the real-time linkage of the pose data and the geometric model of the hoisting machine.
In some optional embodiments, the data analysis unit 103 is further configured to perform synchronous calculation on distances between different components of the geometric model corresponding to the lifting machinery preset in the data analysis unit 103 according to the received pose data, so as to perform synchronous collision detection on the lifting machinery. Specifically, the data analysis unit 103 performs synchronous batch calculation on distances between different components of the geometric model based on the point cloud data of the geometric model according to the received pose data. Further, synchronous collision detection is performed on the hoisting machinery according to the minimum distance between different parts of the geometric model.
In the embodiment of the present application, the geometric model of the hoisting machine may be three-dimensionally modeled by using related modeling software, and stored in the data analysis unit 103, and when the collision interference inspection needs to be performed on the hoisting machine, the stored three-dimensional model and the pose data in the Mysql database may be called in real time to perform analysis. The point cloud data of the geometric model can be obtained by meshing the three-dimensional model of the hoisting machinery and obtaining the point cloud data of the geometric model through a point cloud picture which is obtained by meshing everywhere.
In some optional embodiments, the hoisting machinery collision avoidance system based on the internet of things and the geometric model further includes: the alarm unit 104 is in communication connection with the data analysis unit 103, and the alarm unit 104 is configured to alarm according to an alarm instruction sent by the data analysis unit 103; wherein the data analysis unit 103 issues an alarm instruction in response to the distance between the different components of the geometric model being smaller than a preset distance. Specifically, the preset distance is 1000 mm.
In the embodiment of the present application, the data analysis unit 103 calculates the shortest distance between points on the geometric model corresponding to the moving part, using the point cloud data of the geometric model, according to the pose data of the moving part of the hoisting machine. When the calculated distance is less than 1000 mm, the data analysis unit 103 sends out an alarm instruction, and the alarm unit 104 gives an alarm. The preset distance can be adjusted and set according to the running state of the hoisting machinery. The alarm unit 104 may alarm in different forms such as sound, light, electricity, and the like, for example, when the distance is smaller than the preset distance, the color of the point in the point cloud data gradually changes according to the distance, so that the relevant person can make a response in time.
In this application embodiment, hoisting machinery anticollision system based on thing networking and geometric model still includes: and the collision display unit 105 is in communication connection with the data analysis unit 103 and is configured to display collision detection of the hoisting machinery in real time based on OpenGL. Therefore, real-time operation of the hoisting machinery is displayed through OpenGL, and the intuitiveness of collision detection of the hoisting machinery is effectively improved. In addition, the interference collision detection can be performed on the hoisting machinery through secondary development of computer aided design software, geometric dimensions of a geometric model and the like, and is not repeated here.
In the embodiment of the application, the data acquisition unit 101 arranged on the moving part of the hoisting machinery is used for monitoring the pose which is not obtained by movement in real time, and the pose data of the moving part is obtained; according to the real-time pose data of the moving part, synchronously adjusting a preset geometric model corresponding to the hoisting machinery; synchronous collision detection of the hoisting machinery is realized through motion interference analysis of a geometric model corresponding to the hoisting machinery, so that the potential interference collision danger possibly existing in the running process of the hoisting machinery is eliminated, and the running safety of the hoisting machinery is effectively improved.
Fig. 5 is a schematic flow chart of a hoisting machine anti-collision method based on the internet of things and a geometric model according to some embodiments of the present application; as shown in fig. 5, the hoisting machinery anti-collision method based on the internet of things and the geometric model includes:
s101, monitoring the pose of a moving part of the hoisting machinery in real time, and acquiring pose data of the moving part;
in the embodiment of the application, the internet of things gateway is used for carrying out protocol conversion on pose data acquired by different types of sensing networks, so that interconnection and intercommunication among different types of data are realized, and the remote control efficiency of different and multiple hoisting machines is effectively improved.
In the embodiment of the application, the pose data of the moving part comprises the data of the real-time position and posture of the moving part, and the pose data can be stored in the Mysql database for being called at any time. And the hoisting and pose data are stored for at least half a year, and the data can be called at any time so as to play back and analyze the real-time linkage of the pose data and the geometric model of the hoisting machine.
And S102, according to the pose data, synchronously adjusting a preset geometric model corresponding to the hoisting machinery so as to synchronously detect collision of the hoisting machinery.
In some optional embodiments, step S102 specifically includes: and synchronously calculating the distances between different parts of a preset geometric model corresponding to the hoisting machinery according to the received pose data so as to synchronously detect the collision of the hoisting machinery. Preferably, the distances between different parts of the geometric model are synchronously calculated in batch on the basis of the point cloud data of the geometric model according to the received pose data. Further, synchronous collision detection is performed on the hoisting machinery according to the minimum distance between different parts of the geometric model.
The hoisting machinery anti-collision method based on the internet of things and the geometric model provided by the embodiment of the application can achieve the technical effect of the hoisting machinery anti-collision system based on the internet of things and the geometric model in any embodiment, and is not repeated here.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The utility model provides a hoisting machinery anticollision system based on thing networking and geometric model which characterized in that includes: the system comprises a data acquisition unit, an Internet of things gateway and a data analysis unit; the data acquisition unit and the data analysis unit are respectively in communication connection with the gateway of the Internet of things;
the data acquisition unit is arranged on a moving part of the hoisting machinery, can monitor the pose of the moving part in real time, and sends the monitored pose data to the data analysis unit through the internet of things gateway;
the data analysis unit can synchronously adjust a geometric model which is preset in the data analysis unit and corresponds to the hoisting machinery according to the received pose data so as to synchronously detect collision of the hoisting machinery.
2. The Internet of things and geometric model based anti-collision system for hoisting machinery as claimed in claim 1, wherein the data analysis unit is further configured to perform synchronous calculation on distances between different components of a geometric model corresponding to the hoisting machinery preset in the data analysis unit according to the received pose data, so as to perform synchronous collision detection on the hoisting machinery.
3. The Internet of things and geometric model based lifting machinery anti-collision system as claimed in claim 2, wherein the data analysis unit is further configured to perform synchronous batch calculation of distances between different components of the geometric model based on point cloud data of the geometric model according to the received pose data.
4. The Internet of things and geometric model based hoisting machine collision avoidance system according to claim 2, wherein the data analysis unit is further configured to perform synchronous collision detection on the hoisting machine according to a minimum distance between different components of the geometric model.
5. The Internet of things and geometric model based hoisting machinery anti-collision system according to claim 2, further comprising: the alarm unit is in communication connection with the data analysis unit and is configured to alarm according to an alarm instruction sent by the data analysis unit;
wherein the data analysis unit issues the alarm instruction in response to a distance between different components of the geometric model being less than a preset distance.
6. The Internet of things and geometric model based hoisting machinery anti-collision system according to claim 5, wherein the preset distance is 1000 mm.
7. The hoisting machinery anti-collision system based on the Internet of things and the geometric model is characterized in that,
the data acquisition unit is an encoder;
in a corresponding manner, the first and second optical fibers are,
the moving part includes: the device comprises a gantry, a rotary platform, an arm support mechanism and a cart;
the encoders are mounted on the gantry, the rotary platform, the boom mechanism and the cart and are respectively used for monitoring position coordinates of the gantry, the rotary platform, the boom mechanism and the cart in real time.
8. The Internet of things and geometric model based hoisting machinery anti-collision system according to any one of claims 1 to 7, further comprising: and the collision display unit is in communication connection with the data analysis unit and is configured to display the collision detection of the hoisting machinery in real time based on OpenGL.
9. An anti-collision method for hoisting machinery based on the Internet of things and a geometric model is characterized by comprising the following steps:
monitoring the pose of a moving part of the hoisting machinery in real time, and acquiring pose data of the moving part;
and according to the pose data, synchronously adjusting a preset geometric model corresponding to the hoisting machinery so as to synchronously detect collision of the hoisting machinery.
10. The hoisting machine anti-collision method based on the internet of things and the geometric model according to claim 9, wherein the synchronous adjustment of the preset geometric model corresponding to the hoisting machine according to the pose data to perform synchronous collision detection on the hoisting machine specifically comprises:
and synchronously calculating the distances between different preset parts of the geometric model corresponding to the hoisting machinery according to the received pose data so as to synchronously detect the collision of the hoisting machinery.
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