CN113284231B - Tower crane modeling method based on multidimensional information - Google Patents
Tower crane modeling method based on multidimensional information Download PDFInfo
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Abstract
The invention discloses a tower crane modeling method based on multidimensional information. Comprising the following steps: three-dimensional modeling is carried out on static parts and dynamic parts in the tower crane by adopting SolidWorks software; performing motion range constraint setting according to motion information of each dynamic part in the tower crane; performing space range constraint setting according to space knowledge information of each dynamic part in the tower crane; carrying weight constraint setting is carried out according to carrying capacity information in the tower; and generating a three-dimensional scene model of the large tower crane by using a Java 3D technology. The modeling method can build a more comprehensive tower crane model according to multidimensional knowledge information, is closer to the actual running condition of the tower crane, and is convenient for cultivating tower crane operators with excessively hard technology; the three-dimensional model with more abundant information can be provided for the later virtual reality and virtual training.
Description
Technical Field
The invention belongs to the technical field of three-dimensional training system design, relates to a three-dimensional modeling technology in a training system, and particularly relates to a three-dimensional modeling method of a tower crane based on multi-dimensional information.
Background
At present, along with the high-speed development of economy in China, the foundation projects are more and more, the tower crane is common building construction equipment on a construction site, the operation technical requirement is relatively high, if an operator does not operate the equipment well, personal casualties and property loss are easy to occur, and if a realistic three-dimensional model can be built for the tower crane, the operator can be trained through a virtual reality technology, and the proficiency and the operation skill of the operator are improved.
The Chinese patent with publication number of CN 109376477A discloses a simulation method for preventing the tower crane from overturning, which simulates the motion of the tower crane, avoids the problem of overturning the tower crane caused by overload operation of the tower crane, and solves the difficulty of collecting the motion data of the tower crane on site. However, the technology only considers the load operation of the tower crane, but does not consider the motion knowledge information and the space knowledge information of other parts of the tower crane, and a simulation model cannot cope with a complex construction site.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a modeling method of large-scale tower crane equipment based on multidimensional information, which aims to establish a three-dimensional model of the large-scale tower crane by utilizing the multidimensional information so as to simulate a more real tower crane operation scene and be further applied to training of tower crane operators.
The invention is realized by the following technical scheme:
the tower crane modeling method based on multidimensional information comprises the following steps:
(1) Three-dimensional modeling is carried out on static parts and dynamic parts in the tower crane by adopting SolidWorks software;
further, the step (1) in the modeling method of the large tower crane equipment comprises the following sub-steps:
and (1.1) dividing the parts of the tower crane into dynamic parts and static parts. Wherein the dynamic part is a part that is movable in the scene, and the static part is a part that does not move in the scene;
and (1.2) carrying out appearance shape three-dimensional modeling on the dynamic part and the static part by adopting SolidWorks software respectively.
(2) Performing motion range constraint setting according to motion information of each dynamic part in the tower crane;
further, the step (2) in the modeling method of the large tower crane equipment comprises the following sub-steps:
(2.1) setting a boom, a rotary joint, a balance arm and a trolley in the tower crane equipment as dynamic parts;
(2.2) setting the rotational angular velocity of the boom, the rotary joint and the balance arm to omega according to the knowledge information of the motions of the boom, the rotary joint and the balance arm, and theoretically, the boom, the rotary joint and the balance arm have the same angular velocity; setting the arm length of the crane arm as Lq and the arm length of the balance arm as Lp;
(2.3) according to the motion knowledge information of the trolley, setting the length of the motion to h and the running speed of the trolley to V t 。
(3) Performing space range constraint setting according to space knowledge information of each dynamic part in the tower crane;
further, the step (3) in the modeling method of the large tower crane equipment comprises the following sub-steps:
(3.1) aiming at the surrounding obstacle information of the tower crane, acquiring the space knowledge information of each dynamic part of the tower crane;
(3.2) restricting the rotation angle of the boom and the balance arm with respect to the obstacle information around the boom and the balance arm. Assuming that the boom is Zq from the obstacle and the counterweight is Zp from the obstacle, the spatial constraints of the boom and the counterweight must satisfy the following requirements simultaneously:
assuming that the rotational angular velocity of the boom is ω and the rotational time is t, the angular space constraints of the boom and the balance arm must meet the following requirements simultaneously:
wherein θ -p And theta p The upper limit and the lower limit of the rotation angle of the balance arm are respectively set; θ -q And theta q The upper limit and the lower limit of the rotation angle of the lifting arm are respectively set.
(3.3) restraining the length h of the hoisting rope with respect to obstacle information around the hoisting trolley and the upper hoisting rope, the space constraint of the hoisting trolley must satisfy the following condition: 0<V t ·t<h。
(4) Carrying weight constraint setting is carried out according to carrying capacity knowledge information in the tower;
further, the step (4) in the modeling method of the large tower crane equipment comprises the following sub-steps:
(4.1) acquiring the horizontal movement distance c of the trolley and the carrying weight m of the trolley;
(4.2) calculating the relationship between the horizontal movement distance and the carrying weight of the trolley according to the carrying weight information of the tower crane:
(5) And generating a three-dimensional scene model of the large tower crane by using a Java 3D technology.
Further, the step (5) in the modeling method of the large tower crane equipment comprises the following sub-steps:
(5.1) exporting a model file of tower crane equipment built in SolidWorks software into a WRL (Virtual Reality Language) file, and importing a WRL file in Java 3D through an import interface;
(5.2) setting the coordinate information of the three-dimensional form of the tower crane by combining the Transform Group object and the Transform 3D object;
and (5.3) adding motion range constraint, space range constraint and carrying weight constraint of each dynamic part of the tower crane, and finally generating a three-dimensional scene model of the tower crane equipment.
Compared with the prior art, the modeling method of the invention has the following beneficial effects:
(1) The modeling method of the large-scale tower crane equipment can build a more comprehensive tower crane model according to multidimensional knowledge information, is closer to the actual running condition of the tower crane, and is convenient for cultivating tower crane operators with excessively hard technology;
(2) The modeling method of the large tower crane equipment provided by the invention can provide a three-dimensional model with more abundant information for later virtual reality and virtual training.
Drawings
FIG. 1 is a schematic diagram of a modeling method of a large tower crane device based on multidimensional information provided by an embodiment of the invention;
in the figure, 1 is a tower body, 2 is a crane boom, 3 is a rotary joint, 4 is a balance arm, 5 is a crane trolley, c is a trolley transverse movement length, h is a trolley vertical movement length, m is a trolley carrying weight, and θ is a rotation angle.
Detailed Description
The present invention will be further described with reference to the following specific embodiments, which are intended to be illustrative of the principles of the present invention and not in any way limiting, nor will the same or similar techniques be used in connection with the present invention beyond the scope of the present invention.
In combination with the accompanying drawings.
As shown in fig. 1, the embodiment provides a schematic diagram of a modeling method of a large tower crane device based on multidimensional knowledge information.
The modeling method of the large tower crane equipment comprises the following steps:
(1) Three-dimensional modeling is carried out on static parts and dynamic parts in the tower crane by adopting SolidWorks software;
and (1.1) dividing the parts of the tower crane into dynamic parts and static parts. Wherein the dynamic part is movable in the scene and the static part is movable in the scene;
and (1.2) carrying out appearance shape three-dimensional modeling on the dynamic part and the static part by using SolidWorks software respectively.
(2) Performing motion range constraint setting according to motion information of each dynamic part in the tower crane;
further, the step (2) in the modeling method of the large tower crane equipment comprises the following sub-steps:
(2.1) setting a boom, a rotary joint, a balance arm and a trolley in the tower crane equipment as dynamic parts;
(2.2) setting the rotational angular velocity thereof to ω based on knowledge of the movements of the boom, the rotary joint, and the balance arm, theoretically the boom, the rotary joint, and the balance arm have the same angular velocity. Setting the arm length of the crane arm as Lq and the arm length of the balance arm as Lp;
(2.3) setting the length of the motion of the trolley to h and the running speed of the trolley to v according to the motion knowledge information of the trolley t 。
(3) Performing space range constraint setting according to space knowledge information of each dynamic part in the tower crane;
further, the step (3) in the modeling method of the large tower crane equipment comprises the following sub-steps:
(3.1) aiming at the surrounding obstacle information of the tower crane, acquiring the space knowledge information of each dynamic part of the tower crane;
(3.2) restricting the rotation angle of the boom and the balance arm with respect to the obstacle information around the boom and the balance arm. Assuming that the boom is Zq from the obstacle and the counterweight is Zp from the obstacle, the spatial constraints of the boom and the counterweight must satisfy the following requirements simultaneously:
assuming that the rotational angular velocity of the boom is ω and the rotational time is t, the angular space constraints of the boom and the balance arm must meet the following requirements simultaneously:
wherein θ -p And theta p The upper limit and the lower limit of the rotation angle of the balance arm are respectively set; θ -q And theta q The upper limit and the lower limit of the rotation angle of the lifting arm are respectively set.
(3.3) restraining the length h of the hoisting rope with respect to obstacle information around the hoisting trolley and the upper hoisting rope, the space constraint of the hoisting trolley must satisfy the following condition: 0<V t ·t<h。
(4) Carrying weight constraint setting is carried out according to carrying capacity knowledge information in the tower;
further, the step (4) in the modeling method of the large tower crane equipment comprises the following sub-steps:
(4.1) acquiring the horizontal movement distance c of the trolley and the carrying weight m of the trolley;
(4.2) calculating the relationship between the horizontal movement distance and the carrying weight of the trolley according to the carrying weight information of the tower crane:
(5) Generating a three-dimensional scene model of the large tower crane by using a Java 3D technology;
(5.1) exporting a model file of tower crane equipment built in SolidWorks software into a WRL (Virtual Reality Language) file, and importing a WRL file in Java 3D through an import interface;
(5.2) setting the coordinate information of the three-dimensional form of the tower crane by combining the Transform Group object and the Transform 3D object;
and (5.3) adding motion range constraint, space range constraint and carrying weight constraint of each dynamic part of the tower crane, and finally generating a three-dimensional scene model of the tower crane equipment.
Claims (3)
1. The tower crane modeling method based on the multidimensional information is characterized by comprising the following steps of:
(1) Three-dimensional modeling is carried out on static parts and dynamic parts in the tower crane by adopting SolidWorks software;
(2) The method for restraining the movement range according to the movement information of each dynamic part in the tower crane comprises the following steps: (2.1) setting a boom, a rotary joint, a balance arm and a trolley in the tower crane equipment as dynamic parts; (2.2) setting the rotational angular velocity of the boom, the rotary joint and the balance arm to omega according to the knowledge information of the motions of the boom, the rotary joint and the balance arm, and theoretically, the boom, the rotary joint and the balance arm have the same angular velocity; setting the arm length of the crane arm as Lq and the arm length of the balance arm as Lp; (2.3) according to the motion knowledge information of the trolley, setting the length of the motion to h and the running speed of the trolley to V t ；
(3) Space range constraint setting is carried out according to space knowledge information of each dynamic part in the tower crane, and the method comprises the following steps: (3.1) aiming at the surrounding obstacle information of the tower crane, acquiring the space knowledge information of each dynamic part of the tower crane; (3.2) restraining the rotation angle of the boom and the balance arm with respect to the obstacle information around the boom and the balance arm; assuming that the boom is Zq from the obstacle and the counterweight is Zp from the obstacle, the spatial constraints of the boom and the counterweight must satisfy the following requirements simultaneously:
assuming that the rotational angular velocity of the boom is ω and the rotational time is t, the angular space constraints of the boom and the balance arm must meet the following requirements simultaneously: />
Wherein θ -p And theta p The upper limit and the lower limit of the rotation angle of the balance arm are respectively set; θ -q And theta q The upper limit and the lower limit of the rotation angle of the lifting arm are respectively set; (3.3) restraining the length h of the lifting rope with respect to obstacle information around the lifting trolley and the upper lifting rope, the space constraint of the lifting trolley must satisfy the following condition：0＜V t ·t＜h；
(4) Carrying weight constraint setting is carried out according to carrying capacity information in the tower; comprising the following steps: (4.1) acquiring the horizontal movement distance c of the trolley and the carrying weight m of the trolley; (4.2) calculating the relationship between the horizontal movement distance and the carrying weight of the trolley according to the carrying weight information of the tower crane:
(5) And generating a three-dimensional scene model of the large tower crane by using a Java 3D technology.
2. The multi-dimensional information based tower crane modeling method according to claim 1, characterized in that: the step (1) comprises the following sub-steps:
(1.1) dividing the parts of the tower crane into dynamic parts and static parts; wherein the dynamic parts are parts which can move relatively in the scene, and the static parts are parts which do not move relatively in the scene;
and (1.2) carrying out appearance shape three-dimensional modeling on the dynamic part and the static part by adopting SolidWorks software respectively.
3. The multi-dimensional information based tower crane modeling method according to claim 2, characterized in that: the step (5) comprises the following sub-steps:
(5.1) exporting a model file of tower crane equipment built in SolidWorks software into a WRL file, and importing the WRL file in Java 3D through an import interface;
(5.2) setting the coordinate information of the three-dimensional form of the tower crane by combining the Transform Group object and the Transform 3D object;
and (5.3) adding motion range constraint, space range constraint and carrying weight constraint of each dynamic part of the tower crane, and finally generating a three-dimensional scene model of the tower crane equipment.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001067749A2 (en) * | 2000-03-07 | 2001-09-13 | Sarnoff Corporation | Camera pose estimation |
| CN102360396A (en) * | 2011-09-27 | 2012-02-22 | 浙江工业大学 | Creating method for virtual double-bridge crane based on Virtools |
| CN111597643A (en) * | 2020-05-28 | 2020-08-28 | 中国水利水电夹江水工机械有限公司 | Modeling analysis method suitable for stress and deformation of crane trolley |
| CN112418103A (en) * | 2020-11-24 | 2021-02-26 | 中国人民解放军火箭军工程大学 | Bridge crane hoisting safety anti-collision system and method based on dynamic binocular vision |
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- 2021-06-10 CN CN202110646423.0A patent/CN113284231B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001067749A2 (en) * | 2000-03-07 | 2001-09-13 | Sarnoff Corporation | Camera pose estimation |
| CN102360396A (en) * | 2011-09-27 | 2012-02-22 | 浙江工业大学 | Creating method for virtual double-bridge crane based on Virtools |
| CN111597643A (en) * | 2020-05-28 | 2020-08-28 | 中国水利水电夹江水工机械有限公司 | Modeling analysis method suitable for stress and deformation of crane trolley |
| CN112418103A (en) * | 2020-11-24 | 2021-02-26 | 中国人民解放军火箭军工程大学 | Bridge crane hoisting safety anti-collision system and method based on dynamic binocular vision |
Non-Patent Citations (1)
| Title |
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| 塔式起重机虚拟操作培训系统视景建模;徐书娟;脱建智;胡长涛;董明晓;宋现春;;山东建筑大学学报(第04期);全文 * |
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