CN114644292A - Method for constructing digital twin body of gantry crane - Google Patents
Method for constructing digital twin body of gantry crane Download PDFInfo
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- CN114644292A CN114644292A CN202210322568.XA CN202210322568A CN114644292A CN 114644292 A CN114644292 A CN 114644292A CN 202210322568 A CN202210322568 A CN 202210322568A CN 114644292 A CN114644292 A CN 114644292A
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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
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The invention relates to the technical field of digital twins, in particular to a construction method of a digital twins of a gantry crane. The portal crane digital twin body comprises four parts, namely a physical space module, a communication module, an algorithm module and a client display module, wherein the physical space module comprises a portal crane and a plurality of sensors; the method for constructing the digital twin body of the gantry crane comprises the following steps: (1) data acquisition is carried out on the action and the state of the gantry crane, statics analysis is carried out, and key factors influencing the structural performance of the gantry crane are determined; (2) the data collected by the physical space module is transmitted to the algorithm module through the communication means of the communication module; (3) completing the virtual-real fusion of crane data in an algorithm module; (4) and respectively visualizing the data obtained by the calculation of the algorithm module and the data acquired by the sensor of the physical space module at the client in a three-dimensional model and information quantification mode. The invention can monitor the working state of the gantry crane.
Description
Technical Field
The invention relates to the technical field of digital twins, in particular to a construction method of a digital twins of a gantry crane.
Background
The gantry crane is a variant of a bridge crane and is also called a gantry crane. The device is mainly used for loading and unloading outdoor goods yards, stockyards and bulk goods. The portal crane has the characteristics of high site utilization rate, large operation range, wide application range, strong universality and the like, and is widely used in port goods yards. Install translation mechanism and hoist mechanism on portal crane's the roof-rack, translation mechanism can drive the reciprocal translation of hoist mechanism, hoists the goods with the hoist mechanism of crossing, two gantries of both sides installation of roof-rack, is provided with the base under the gantry, and the base is connected with subaerial guide rail through walking wheel. Can directly walk on a track on the ground in order to drive the base to walk.
The existing portal crane does not have a digital twin platform, and the working state of the portal crane is difficult to monitor.
Disclosure of Invention
The invention aims to provide a construction method of a digital twin body of a gantry crane, which overcomes the defects of the prior art and monitors the working state of the gantry crane.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for constructing a digital twin body of a gantry crane comprises two first guide rails, a base, traveling wheels, a rotating shaft, a first motor, a gantry, a top frame, a translation mechanism and a hoisting mechanism, wherein the two first guide rails are arranged in parallel along a first direction, the base is arranged on each first guide rail, the traveling wheels are arranged at two ends below the base at intervals along the first direction, the gantries are arranged at the upper ends of the bases, the tops of the gantries are connected through the top frame, the translation mechanism is arranged on the top frame along a second direction, and the translation mechanism is arranged on the hoisting mechanism; two travelling wheels corresponding to the second direction are connected through a rotating shaft, one travelling wheel is connected with an output shaft of a first motor and driven to rotate through the first motor, a speed sensor is arranged on one side of the first motor, a load sensor is arranged on a base, a position sensor is arranged on one side of a hoisting mechanism, and a pose sensor is arranged on the hoisting mechanism;
the digital twin body of the gantry crane comprises four parts, namely a physical space module, a communication module, an algorithm module and a client display module, wherein the physical space module comprises the gantry crane and a plurality of sensors arranged on the gantry crane;
the method for constructing the digital twin body of the gantry crane comprises the following steps:
(1) arranging a plurality of sensors in a portal crane of a physical space module, collecting data of the action and the state of the portal crane, and statically analyzing the portal crane through the data collected by a load sensor, a speed sensor, a pose sensor and a position sensor to determine key factors influencing the structural performance of the portal 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 analysis model to complete the virtual-real fusion of crane data, and realizing the 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.
Furthermore, two hoisting mechanisms are arranged; position sensors are arranged on one sides of the two hoisting mechanisms, the two hoisting mechanisms comprise lifting ropes, and the pose sensors are arranged at the tail ends of the lifting ropes.
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 gantry crane needs to be acquired in real time in the step (1); the three-dimensional solid modeling of the gantry crane is realized through the 3D scanner, and the three-dimensional solid modeling is used for observing the operation progress of the gantry 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 virtual model of the gantry 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.
Further, the client display module displays equipment operation attitude monitoring, equipment fault early warning and equipment mechanical property evaluation.
In the invention, the digital world constructed by an algorithm module mainly realizes the real-time visualization of the attitude and stress of the physical world gantry 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 action of the gantry crane in real time on line, 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 gantry crane in the digital world is realized; the digital world not only visualizes the track of a heavy object operated by the lifting gantry crane, but also displays information such as displacement values of relevant points of the lifting gantry crane, load size of the heavy object, lifting speed of the heavy object, position and the like in a digital form, when attitude parameters of the crane exceed a specified range, the attitude can be considered to be abnormal, the digital world gives a warning prompt, and the physical space attitude of the crane is described from multiple angles and multiple state parameters; an AI algorithm constructed by the driving of the sensing data calculates the stress value of the crane in real time, and dynamically displays the stress value through a cloud picture, and the system also displays information such as load size, lifting height and the like 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 gantry crane 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 point, so that online calculation and visualization of stress of the gantry crane in a physical space are realized.
The invention has the beneficial effects that: compared with the prior art, the construction method of the digital twin body of the gantry crane has the following advantages: and the stress of the gantry crane in the physical space is calculated and visualized on line.
Drawings
FIG. 1 is a schematic perspective view of a gantry crane according to the present invention;
FIG. 2 is a schematic top view of the gantry crane of 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.
A method for constructing a digital twin body of a gantry crane comprises two first guide rails 1, a base 2, traveling wheels 3, a rotating shaft 4, a first motor 5, a gantry 6, a top frame 7, a translation mechanism 8 and a hoisting mechanism 9, wherein the first guide rails are arranged in parallel along a first direction, each first guide rail is provided with the base, the traveling wheels are arranged at two ends below the base at intervals along the first direction, the upper ends of the bases are provided with the gantries, the tops of the gantries are connected through the top frame, the translation mechanism is arranged on the top frame along a second direction, and the translation mechanism is arranged on the hoisting mechanism; two travelling wheels corresponding to the second direction are connected through a rotating shaft, one travelling wheel is connected with an output shaft of a first motor and driven to rotate through the first motor, a speed sensor is arranged on one side of the first motor, a load sensor is arranged on a base, a position sensor is arranged on one side of a hoisting mechanism, and a pose sensor is arranged on the hoisting mechanism;
the digital twin body of the gantry crane comprises four parts, namely a physical space module, a communication module, an algorithm module and a client display module, wherein the physical space module comprises the gantry crane and a plurality of sensors arranged on the gantry crane;
the method for constructing the digital twin body of the gantry crane comprises the following steps:
(1) arranging a plurality of sensors in a portal crane of a physical space module, collecting data of the action and the state of the portal crane, and statically analyzing the portal crane through the data collected by a load sensor, a speed sensor, a pose sensor and a position sensor to determine key factors influencing the structural performance of the portal 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 analysis model to complete the virtual-real fusion of crane data, and realizing the 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, two hoisting mechanisms are provided; position sensors are arranged on one sides of the two hoisting mechanisms, the two hoisting mechanisms comprise lifting ropes, and the pose sensors are arranged at the tail ends of the lifting ropes.
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 gantry crane needs to be acquired in real time in the step (1); the three-dimensional solid modeling of the gantry crane is realized through the 3D scanner, and the three-dimensional solid modeling is used for observing the operation progress of the gantry 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 virtual model of the gantry crane 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 a faithful mirror image of 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 real-time visualization of the attitude and stress of the physical world gantry 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 action of the gantry crane in real time on line, 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 gantry crane in the digital world is realized; the digital world not only visualizes the track of a heavy object operated by the lifting gantry crane, but also displays information such as displacement values of relevant points of the lifting gantry crane, load size of the heavy object, lifting speed of the heavy object, position and the like in a digital form, when attitude parameters of the crane exceed a specified range, the attitude can be considered to be abnormal, the digital world gives a warning prompt, and the physical space attitude of the crane is described from multiple angles and multiple state parameters; an AI algorithm constructed by the drive of the sensing data calculates the stress value of the crane in real time, and dynamically displays the stress value through a cloud picture, and the system also displays information such as load size, lifting height and the like 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 gantry crane 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 point, so that online calculation and visualization of stress of the gantry 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 (6)
1. A construction method of a digital twin body of a gantry crane is characterized by comprising the following steps: the gantry crane comprises first guide rails, a base, traveling wheels, a rotating shaft, a first motor, a gantry, an upper frame, a translation mechanism and a hoisting mechanism, wherein the first guide rails are arranged in parallel along a first direction, each first guide rail is provided with the base, the traveling wheels are arranged at two ends below the base at intervals along the first direction, the gantry is arranged at the upper end of the base, the tops of the gantries are connected through the upper frame, the translation mechanism is arranged on the upper frame along a second direction, and the translation mechanism is arranged on the hoisting mechanism; two walking wheels corresponding to each other in the second direction are connected through a rotating shaft, one walking wheel is connected with an output shaft of a first motor and driven to rotate through the first motor, a speed sensor is arranged on one side of the first motor, a load sensor is arranged on a base, a position sensor is arranged on one side of a hoisting mechanism, and a pose sensor is arranged on the hoisting mechanism;
the digital twin body of the gantry crane comprises four parts, namely a physical space module, a communication module, an algorithm module and a client display module, wherein the physical space module comprises the gantry crane and a plurality of sensors arranged on the gantry crane;
the method for constructing the digital twin body of the gantry crane comprises the following steps:
(1) arranging a plurality of sensors in the gantry crane of the physical space module, acquiring data of the action and the state of the gantry crane, and performing statics analysis on the gantry crane through the data acquired by the load sensor, the speed sensor, the pose sensor and the position sensor to determine key factors influencing the structural performance of the gantry 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 analysis model to complete the virtual-real fusion of crane data, and realizing the 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 method for constructing a digital twin body of a gantry crane according to claim 1, wherein: two hoisting mechanisms are arranged; position sensors are arranged on one sides of the two hoisting mechanisms, the two hoisting mechanisms comprise lifting ropes, and the pose sensors are arranged at the tail ends of the lifting ropes.
3. The construction method of a gantry crane digital twin according to claim 1 or 2, 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.
4. The method for constructing a digital twin body of a gantry crane according to claim 3, wherein: the working environment of the gantry crane is required to be acquired in real time in the step (1); the three-dimensional solid modeling of the gantry crane is realized through the 3D scanner, and the three-dimensional solid modeling is used for observing the operation progress of the gantry crane in real time.
5. The method for constructing a digital twin body of a gantry crane according to claim 1, wherein: 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 gantry 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.
6. The method for constructing a digital twin body of a gantry crane according to claim 1, wherein: and the client display module displays equipment operation attitude monitoring, equipment fault early warning and equipment mechanical property evaluation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210322568.XA CN114644292A (en) | 2022-03-30 | 2022-03-30 | Method for constructing digital twin body of gantry crane |
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| CN202210322568.XA CN114644292A (en) | 2022-03-30 | 2022-03-30 | Method for constructing digital twin body of gantry crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116425046A (en) * | 2023-03-31 | 2023-07-14 | 江苏苏港智能装备产业创新中心有限公司 | Portal crane abnormal state identification system based on digital twinning |
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2022
- 2022-03-30 CN CN202210322568.XA patent/CN114644292A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116425046A (en) * | 2023-03-31 | 2023-07-14 | 江苏苏港智能装备产业创新中心有限公司 | Portal crane abnormal state identification system based on digital twinning |
| CN116425046B (en) * | 2023-03-31 | 2024-03-19 | 江苏苏港智能装备产业创新中心有限公司 | Portal crane abnormal state identification system based on digital twinning |
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