CN114626165A - Construction method of digital twin body of jib crane - Google Patents
Construction method of digital twin body of jib crane Download PDFInfo
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- CN114626165A CN114626165A CN202210322885.1A CN202210322885A CN114626165A CN 114626165 A CN114626165 A CN 114626165A CN 202210322885 A CN202210322885 A CN 202210322885A CN 114626165 A CN114626165 A CN 114626165A
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Abstract
The invention relates to the technical field of digital twinning, in particular to a construction method of a digital twinning body of a jib crane. The construction method of the digital twin body of the jib crane comprises the following steps: (1) arranging a plurality of sensors in the jib crane of the physical space module, and acquiring data of the action and the state of the jib crane; (2) the data collected by the physical space module is transmitted to the algorithm module through the communication means of the communication module; (3) the virtual-real fusion of crane jib crane data is completed in an algorithm module, and the real-time sensor data is used as input to realize the online calculation of the geometrical form and the structural mechanical property of the crane; (4) and the data calculated by the algorithm module and the data acquired by the sensor of the physical space module are visualized at the client in a three-dimensional model and information quantification mode respectively, so that the reasonable decision of a user is assisted. The invention can realize real-time monitoring of the geometric form of the whole machine and dynamic prediction of the structural mechanical property, and ensure the safe operation of the crane.
Description
Technical Field
The invention relates to the technical field of digital twinning, in particular to a construction method of a digital twinning body of a jib crane.
Background
The crane refers to a multi-action crane for vertically lifting and horizontally carrying heavy objects within a certain range. Also known as crown blocks, navigation cranes and cranes. Boom cranes are one type of cranes. The structural bearing capacity of the cantilever crane in operation is influenced by different factors to present a time-varying dynamic characteristic, and monitoring and early warning of dangerous loads are important prerequisites for avoiding sudden accidents of the crane. The existing crane is not designed based on a digital twin platform, cannot realize real-time monitoring of the geometric form of the whole crane and dynamic prediction of structural mechanical property, and is deficient in guaranteeing the safe operation of the crane.
Disclosure of Invention
The invention aims to provide a construction method of a digital twin body of a cantilever crane, which overcomes the defects of the prior art, can realize real-time monitoring of the geometric form of the whole crane and dynamic prediction of the structural mechanical property, and ensures the safe operation of the crane.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a construction method of a boom crane digital twin body comprises a physical space module, a communication module, an algorithm module and a client display module; the construction method of the boom crane digital twin body comprises the following steps:
(1) arranging a plurality of sensors in the jib crane of the physical space module, and acquiring data of the action and the state of the jib crane;
(2) the data collected by the physical space module is transmitted to the algorithm module through the communication means of the communication module;
(3) preprocessing data transmitted by a communication module by adopting a noise reduction and denoising method in an algorithm module to improve the signal-to-noise ratio, fusing data obtained by calculating a mechanism model, an AI algorithm, expert knowledge and an analytic model to complete virtual-real fusion of crane jib crane data, and realizing online calculation of the geometrical form and the structural mechanical property of the crane by taking real-time sensor data as input;
(4) the data calculated by the algorithm module and the data collected by the sensor of the physical space module are visualized on the client in a three-dimensional model and information quantification mode respectively, so that the reasonable decision of a user is assisted.
Furthermore, the physical space module comprises a jib crane and a plurality of sensors arranged on the jib crane, wherein the sensors comprise a load sensor, a corner sensor, an inclination angle sensor, a pose sensor and a speed sensor; the system comprises a load sensor, a corner sensor, an inclination angle sensor, a pose sensor, a speed sensor and a control system, wherein the load sensor is used for acquiring load data of the jib crane, the corner sensor is used for acquiring boom rotation angle data of the jib crane, the inclination angle sensor is used for acquiring tilt angle data of the boom of the jib crane, the pose sensor is used for acquiring pose data of an object lifted by the jib crane, and the data acquired by the load sensor, the corner sensor, the inclination angle sensor, the pose sensor and the speed sensor are used for carrying out statics analysis on the jib crane to determine key factors influencing the structural performance of the jib crane.
Furthermore, the number of the speed sensors is at least two, at least one speed sensor is used for acquiring the winding and unwinding speed of a lifting rope of the cantilever crane, and at least one speed sensor is used for acquiring the rotating speed of a lifting arm of the cantilever crane.
Furthermore, the communication module comprises Bluetooth communication, wireless network communication, local area network communication and GPRS communication, and the communication mode transmits data to the algorithm module through TCP/IP, NETBEUI and IPX/SPX.
Further, the working environment of the jib crane is required to be acquired in real time in the step (1); the three-dimensional solid modeling of the jib crane is realized through the 3D scanner, and the three-dimensional solid modeling is used for observing the operation progress of the jib crane in real time.
Furthermore, data information of the physical space module is mapped to the digital world of the algorithm module through the communication module, high-fidelity description and modeling are carried out on the characteristics, behaviors, performance and the like of the crane, the boom crane virtual model established in the digital world is consistent with a crane entity in the physical space in the aspects of geometry, materials, behaviors and the like, and the faithful mirror image of the physical world to the digital world is realized.
Further, the client display module displays equipment operation attitude monitoring, equipment fault early warning and equipment mechanical property evaluation.
In the invention, a digital world constructed by an algorithm module mainly realizes the real-time visualization of the attitude and stress of a physical world jib crane in a physical space module, and the filtered and de-noised sensing data dynamically drives a twin body of the digital world crane on line to update the luffing angle, the rotation angle and the like of a luffing arm in real time, so that the attitude of the digital world twin body is consistent with the attitude of a physical world entity, and the real-time visualization of the attitude of the luffing arm crane in the digital world is realized; the digital world not only visualizes the track of a heavy object operated by the lifting jib crane, but also displays information such as a displacement value of a related point of a movable arm, the load size of the heavy object, the lifting speed of the heavy object, the amplitude variation angle of the movable arm, the rotation angle and the like in a digital form; meanwhile, an AI algorithm constructed by sensing data drive calculates a crane stress value in real time, and dynamically displays the crane stress value through a cloud picture, and the system also displays the load size, the lifting height, the amplitude variation angle and the rotation angle information in real time; the client display module can display a deformation cloud picture of the crane and a stress cloud picture of the crane, different positions of the movable arm are clicked through a mouse in the client display module, and the stress table in the state display column displays a stress change curve corresponding to the movable arm, so that online calculation and visualization of stress of the movable arm crane in a physical space are achieved.
The beneficial effects of the invention are: compared with the prior art, the construction method of the digital twin body of the jib crane has the following advantages: the real-time monitoring of the geometric form of the whole crane and the dynamic prediction of the structural mechanical property can be realized, and the safe operation of the crane is guaranteed.
Drawings
Fig. 1 is a digital twin body of the jib crane according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In the embodiment shown in fig. 1, a boom crane digital twin body construction method includes that a boom crane digital twin body includes four parts, namely a physical space module, a communication module, an algorithm module, and a client display module; the construction method of the boom crane digital twin body comprises the following steps:
(1) arranging a plurality of sensors in a boom crane of the physical space module, and acquiring data of the actions and the states of the boom crane;
(2) the data collected by the physical space module is transmitted to the algorithm module through the communication means of the communication module;
(3) preprocessing data transmitted by a communication module by adopting a noise reduction and denoising method in an algorithm module to improve the signal-to-noise ratio, fusing data obtained by calculating a mechanism model, an AI algorithm, expert knowledge and an analytic model to complete virtual-real fusion of crane jib crane data, and realizing online calculation of the geometrical form and the structural mechanical property of the crane by taking real-time sensor data as input;
(4) and the data calculated by the algorithm module and the data acquired by the sensor of the physical space module are visualized at the client in a three-dimensional model and information quantification mode respectively, so that the reasonable decision of a user is assisted.
In this embodiment, the physical space module includes a jib crane and a plurality of sensors disposed on the jib crane, where the sensors include a load sensor, a corner sensor, an inclination sensor, a pose sensor, and a speed sensor; the crane comprises a load sensor, a corner sensor, a tilt angle sensor, a pose sensor, a speed sensor and a posture sensor, wherein the load sensor is used for acquiring load data of the cantilever crane, the corner sensor is used for acquiring rotating angle data of a boom of the cantilever crane, the tilt angle sensor is used for acquiring tilt angle data of the boom of the cantilever crane, the pose sensor is used for acquiring pose data of an object lifted by the cantilever crane, the data acquired by the load sensor, the corner sensor, the tilt angle sensor, the pose sensor and the speed sensor are used for carrying out statics analysis on the cantilever crane, and key factors influencing the structural performance of the cantilever crane are determined.
In this embodiment, the number of the speed sensors is at least two, at least one speed sensor is used for acquiring the winding and unwinding speeds of the boom crane lifting rope, and at least one speed sensor is used for acquiring the boom rotation speed of the boom crane.
In this embodiment, the communication module includes bluetooth communication, wireless network communication, lan communication, and GPRS communication, and the above communication mode transmits data to the algorithm module through TCP/IP, NETBEUI, IPX/SPX.
In this embodiment, the working environment of the jib crane also needs to be acquired in real time in the step (1); the three-dimensional solid modeling of the jib crane is realized through the 3D scanner, and the three-dimensional solid modeling is used for observing the operation progress of the jib crane in real time.
In this embodiment, the data information of the physical space module is mapped to the digital world of the algorithm module through the communication module, and high-fidelity description and modeling are performed on the features, behaviors, performance and the like of the crane, so that the boom crane virtual model established in the digital world is consistent with the crane entity in the physical space in terms of geometry, materials, behaviors and the like, and faithful mirroring from the physical world to the digital world is realized.
In this embodiment, the client display module displays equipment operation posture monitoring, equipment fault early warning and equipment mechanical property evaluation.
In the invention, the digital world constructed by an algorithm module mainly realizes the dynamic real-time visualization of the attitude and the stress of the physical world jib crane in a physical space module, and the filtered and de-noised sensing data dynamically drives the twin body of the digital world crane to update the luffing angle, the rotation angle and the like of the movable arm in real time, so that the attitude of the digital world twin body is consistent with the attitude of the physical world entity, and the real-time visualization of the attitude of the movable arm crane in the digital world is realized; the digital world not only visualizes the track of a heavy object operated by the lifting jib crane, but also displays information such as a displacement value of a related point of a movable arm, the load size of the heavy object, the lifting speed of the heavy object, the amplitude variation angle of the movable arm, the rotation angle and the like in a digital form; meanwhile, an AI algorithm constructed by sensing data driving calculates a stress value of the crane in real time, and dynamically displays the stress value through a cloud picture, and the system also displays information of load size, lifting height, amplitude variation angle and rotation angle in real time; the client display module can display a deformation cloud picture of the crane and a stress cloud picture of the crane, different positions of the movable arm are clicked through a mouse in the client display module, and the stress table in the state display column displays a stress change curve corresponding to the movable arm, so that online calculation and visualization of the stress of the movable arm crane in a physical space are realized.
The above embodiments are only specific examples of the present invention, and the protection scope of the present invention includes but is not limited to the product forms and styles of the above embodiments, and any suitable changes or modifications made by those skilled in the art according to the claims of the present invention shall fall within the protection scope of the present invention.
Claims (7)
1. A construction method of a boom crane digital twin body is characterized by comprising the following steps: the digital twin body of the jib crane comprises a physical space module, a communication module, an algorithm module and a client display module; the construction method of the boom crane digital twin body comprises the following steps:
(1) arranging a plurality of sensors in the jib crane of the physical space module, and acquiring data of the action and the state of the jib crane;
(2) the data collected by the physical space module is transmitted to the algorithm module through the communication means of the communication module;
(3) preprocessing data transmitted by a communication module by adopting a noise reduction and denoising method in an algorithm module to improve the signal-to-noise ratio, fusing data obtained by calculating a mechanism model, an AI algorithm, expert knowledge and an analytic model to complete virtual-real fusion of crane jib crane data, and realizing online calculation of the geometrical form and the structural mechanical property of the crane by taking real-time sensor data as input;
(4) and the data calculated by the algorithm module and the data acquired by the sensor of the physical space module are visualized at the client in a three-dimensional model and information quantification mode respectively, so that the reasonable decision of a user is assisted.
2. The construction method of the boom crane digital twin body according to claim 1, characterized in that: the physical space module comprises a jib crane and a plurality of sensors arranged on the jib crane, and the sensors comprise a load sensor, a corner sensor, an inclination angle sensor, a pose sensor and a speed sensor; the crane comprises a load sensor, a corner sensor, a tilt angle sensor, a pose sensor, a speed sensor and a posture sensor, wherein the load sensor is used for acquiring load data of the cantilever crane, the corner sensor is used for acquiring rotating angle data of a boom of the cantilever crane, the tilt angle sensor is used for acquiring tilt angle data of the boom of the cantilever crane, the pose sensor is used for acquiring pose data of an object lifted by the cantilever crane, the data acquired by the load sensor, the corner sensor, the tilt angle sensor, the pose sensor and the speed sensor are used for carrying out statics analysis on the cantilever crane, and key factors influencing the structural performance of the cantilever crane are determined.
3. The construction method of the boom crane digital twin body according to claim 2, characterized in that: the boom crane comprises at least two speed sensors, at least one speed sensor is used for acquiring the winding and unwinding speeds of a boom crane lifting rope, and at least one speed sensor is used for acquiring the boom rotation speed of the boom crane.
4. The construction method of the boom crane digital twin body according to claim 1, characterized in that: the communication module comprises Bluetooth communication, wireless network communication, local area network communication and GPRS communication, and the communication mode transmits data to the algorithm module through TCP/IP, NETBEUI and IPX/SPX.
5. The construction method of the boom crane digital twin body according to claim 4, characterized in that: the working environment of the jib crane is also required to be acquired in real time in the step (1); the three-dimensional solid modeling of the jib crane is realized through the 3D scanner, and the three-dimensional solid modeling is used for observing the operation progress of the jib crane in real time.
6. The method for constructing the digital twin body of the jib crane according to claim 5, wherein the method comprises the following steps: the data information of the physical space module is mapped to the digital world of the algorithm module through the communication module, high-fidelity description and modeling are carried out on the characteristics, behaviors, performance and the like of the crane, so that the virtual model of the cantilever crane built in the digital world is consistent with the crane entity in the physical space in the aspects of geometry, materials, behaviors and the like, and the faithful mirror image from the physical world to the digital world is realized.
7. The construction method of the boom crane digital twin body according to claim 1, characterized in that: and the client display module displays equipment operation attitude monitoring, equipment fault early warning and equipment mechanical property evaluation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115906336A (en) * | 2023-01-06 | 2023-04-04 | 常熟天地煤机装备有限公司 | Coal mining machine digital twin model modeling method and system based on hardware-in-the-loop simulation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115906336A (en) * | 2023-01-06 | 2023-04-04 | 常熟天地煤机装备有限公司 | Coal mining machine digital twin model modeling method and system based on hardware-in-the-loop simulation |
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