CN114644292A - Construction method of digital twin of gantry crane - Google Patents

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

Construction method of gantry crane digital twin

technical field

The invention relates to the technical field of digital twins, in particular to a method for constructing a digital twin of a gantry crane.

Background technique

Gantry crane is a variant of bridge crane, also known as gantry crane. It is mainly used for the loading and unloading of outdoor cargo yards, stockyards and bulk cargoes. Gantry cranes have the characteristics of high site utilization, large operating range, wide adaptability and strong versatility, and are widely used in port cargo yards. A translation mechanism and a hoisting mechanism are installed on the top frame of the gantry crane. The translation mechanism can drive the hoisting mechanism to reciprocate and translate. The hoisting mechanism is used to hoist the goods. Two gantry frames are installed on both sides of the top frame. It is connected with the guide rail on the ground through the walking wheel. It can walk directly on the track on the ground, in order to drive the base to walk.

The existing gantry crane does not have a digital twin platform, so it is difficult to monitor the working status of the gantry crane.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a method for constructing a digital twin of a gantry crane, which overcomes the aforementioned deficiencies of the prior art and implements monitoring of the working state of the gantry crane.

The technical scheme adopted by the present invention to solve its technical problems is:

A method for constructing a digital twin of a gantry crane, the gantry crane includes a first guide rail, a base, a traveling wheel, a rotating shaft, a first motor, a gantry, a top frame, a translation mechanism and a hoisting mechanism, the first guide rail Two are arranged in parallel along the first direction, each first guide rail is provided with a base, the lower ends of the base are installed with walking wheels at intervals along the first direction, the upper end of the base is installed with a gantry, and the top of the gantry is installed. They are connected by a top frame, a translation mechanism is installed on the top frame along the second direction, and the translation mechanism is installed on the hoisting mechanism; the two traveling wheels corresponding to the positions along the second direction are connected by a rotating shaft, and one of the traveling wheels is connected to the second traveling wheel. The output shaft of a motor is connected and driven to rotate by a first motor, a speed sensor is arranged on one side of the first motor, a load sensor is arranged on the base, a position sensor is arranged on one side of the hoisting mechanism, and a position and attitude sensor is arranged on the hoisting mechanism ;

The digital twin of the gantry crane includes four parts: a physical space module, a communication module, an algorithm module, and a client display module, and the physical space module includes a gantry crane and several sensors arranged on the gantry crane;

The method for constructing the digital twin of the gantry crane includes the following steps:

(1) Arrange a number of sensors in the gantry crane of the physical space module to collect data on the action and state of the gantry crane, and perform statics on the gantry crane through the data collected by the load sensor, speed sensor, pose sensor and position sensor. Analyze and determine the key factors affecting 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) In the algorithm module, the noise reduction and denoising methods are used to preprocess the data transmitted by the communication module to improve the signal-to-noise ratio, and then fuse the data calculated by the mechanism model, AI algorithm, expert knowledge and analytical model. , complete the virtual and real fusion of the gantry crane data, and use the real-time sensor data as input to realize the online calculation of the crane geometry and structural mechanical properties;

(4) Visualize the data calculated by the algorithm module and the data collected by the sensors of the physical space module on the client in the form of a three-dimensional model and information quantification, respectively, to assist users in making rational decisions.

Further, there are two hoisting mechanisms; one side of the two hoisting mechanisms is provided with a position sensor, both of the two hoisting mechanisms include a suspending rope, and the position and attitude sensor is arranged at the end of the suspending rope.

Further, the communication module includes Bluetooth communication, wireless network communication, local area network communication and GPRS communication, and the above communication methods transmit data to the algorithm module through TCP/IP, NETBEUI, and IPX/SPX.

Further, in step (1), the working environment of the gantry crane needs to be collected in real time; the 3D solid modeling of the gantry crane is realized by a 3D scanner, which is used to observe the operation progress of the gantry crane in real time.

Further, the data information of the physical space module is mapped to the digital world of the algorithm module through the communication module, and the characteristics, behavior and performance of the crane are described and modeled with high fidelity, so that the gantry crane established in the digital world is virtualized. The model is consistent with the crane entity in the physical space in terms of geometry, material, behavior, etc., realizing a faithful mirroring of the physical world to the digital world.

Further, the client display module displays equipment operation attitude monitoring, equipment failure early warning and equipment mechanical performance evaluation.

In the present invention, the digital world constructed by the algorithm module mainly realizes the dynamic real-time visualization of the posture and stress of the physical world gantry crane in the physical space module, and the filtered and denoised sensor data dynamically drives the digital world crane twin to update the gantry in real time. The action of the crane keeps the digital world twin in line with the physical posture of the physical world, and realizes the real-time visualization of the gantry crane posture in the digital world; the digital world not only visualizes the trajectory of the heavy objects operated by the hoisting gantry crane, but also displays the door in digital form. The displacement value of the relevant point of the crane, the load size of the heavy object, the lifting speed of the heavy object, the position and other information, when the attitude parameter of the crane exceeds the specified range, it can be considered that the attitude is abnormal, and the digital world will give a warning prompt. Describe the physical space attitude of the crane; the AI algorithm constructed by sensing data calculates the stress value of the crane in real time, and displays it dynamically through the cloud map. The system also displays the load size, lifting height and other information in real time; the client display module can display the deformation cloud map, The stress cloud map of the crane, click on different positions of the gantry crane in the client display module, and the stress table in the status display column displays the stress curve corresponding to the point. In this way, the online calculation and calculation of the stress of the gantry crane in the physical space are realized. visualization.

The beneficial effects of the present invention are: compared with the prior art, the method for constructing a digital twin of a gantry crane of the present invention has the following advantages: realizing online calculation and visualization of the stress of the gantry crane in the physical space.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the gantry crane of the present invention;

Fig. 2 is the top view structure schematic diagram of the gantry crane of the present invention;

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

A method for constructing a digital twin of a gantry crane, the gantry crane includes a first guide rail 1, a base 2, a traveling wheel 3, a rotating shaft 4, a first motor 5, a gantry 6, a top frame 7, a translation mechanism 8 and For the hoisting mechanism 9, two first guide rails are arranged in parallel along the first direction, each first guide rail is provided with a base, the lower ends of the base are installed with walking wheels at intervals along the first direction, and the upper end of the base is installed There is a gantry, the top of the gantry is connected by a top frame, a translation mechanism is installed on the top frame along the second direction, and the translation mechanism is set on the hoisting mechanism; the two traveling wheels corresponding to the position along the second direction pass through The rotating shaft is connected, one of the traveling wheels is connected to the output shaft of the first motor and is driven to rotate by the first motor. One side of the first motor is provided with a speed sensor, the base is provided with a load sensor, and one side of the hoisting mechanism is provided with a position sensor , the hoisting mechanism is provided with a pose sensor;

The digital twin of the gantry crane includes four parts: a physical space module, a communication module, an algorithm module, and a client display module, and the physical space module includes a gantry crane and several sensors arranged on the gantry crane;

The method for constructing the digital twin of the gantry crane includes the following steps:

(1) Arrange a number of sensors in the gantry crane of the physical space module to collect data on the action and state of the gantry crane, and perform statics on the gantry crane through the data collected by the load sensor, speed sensor, pose sensor and position sensor. Analyze and determine the key factors affecting 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) In the algorithm module, the noise reduction and denoising methods are used to preprocess the data transmitted by the communication module to improve the signal-to-noise ratio, and then fuse the data calculated by the mechanism model, AI algorithm, expert knowledge and analytical model. , complete the virtual and real fusion of the gantry crane data, and use the real-time sensor data as input to realize the online calculation of the crane geometry and structural mechanical properties;

(4) Visualize the data calculated by the algorithm module and the data collected by the sensors of the physical space module on the client in the form of a three-dimensional model and information quantification, respectively, to assist users in making rational decisions.

In this embodiment, there are two hoisting mechanisms; one side of the two hoisting mechanisms is provided with a position sensor, both of the two hoisting mechanisms include suspending ropes, and the position and attitude sensors are arranged at the ends of the suspending ropes.

In this embodiment, the communication module includes Bluetooth communication, wireless network communication, local area network communication and GPRS communication, and the above communication methods transmit data to the algorithm module through TCP/IP, NETBEUI, and IPX/SPX.

In this embodiment, the working environment of the gantry crane needs to be collected in real time in step (1); the 3D entity modeling of the gantry crane is realized by a 3D scanner, which is used to observe 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 the characteristics, behavior and performance of the crane are described and modeled with high fidelity, so that the portal structure established in the digital world The crane virtual model is consistent with the crane entity in the physical space in terms of geometry, material, behavior, etc., to achieve a faithful mirroring of the physical world to the digital world.

In this embodiment, the client display module displays equipment running posture monitoring, equipment failure warning and equipment mechanical performance evaluation.

In the present invention, the digital world constructed by the algorithm module mainly realizes the dynamic real-time visualization of the posture and stress of the physical world gantry crane in the physical space module, and the filtered and denoised sensor data dynamically drives the digital world crane twin to update the gantry in real time. The action of the crane keeps the digital world twin in line with the physical posture of the physical world, and realizes the real-time visualization of the gantry crane posture in the digital world; the digital world not only visualizes the trajectory of the heavy objects operated by the hoisting gantry crane, but also displays the door in digital form. The displacement value of the relevant point of the crane, the load size of the heavy object, the lifting speed of the heavy object, the position and other information, when the attitude parameter of the crane exceeds the specified range, it can be considered that the attitude is abnormal, and the digital world will give a warning prompt. Describe the physical space attitude of the crane; the AI algorithm constructed by sensing data calculates the stress value of the crane in real time, and displays it dynamically through the cloud map. The system also displays the load size, lifting height and other information in real time; the client display module can display the deformation cloud map, The stress cloud map of the crane, click on different positions of the gantry crane in the client display module, and the stress table in the status display column displays the stress curve corresponding to the point. In this way, the online calculation and calculation of the stress of the gantry crane in the physical space are realized. visualization.

The above-mentioned specific embodiments are only specific cases of the present invention, and the scope of patent protection of the present invention includes but is not limited to the product forms and styles of the above-mentioned specific embodiments. Appropriate changes or modifications made shall fall within the scope of patent protection of the present invention.

Claims (6)

1. A construction method of a gantry crane digital twin is characterized in that: the gantry crane comprises a first guide rail, a base, a traveling wheel, a rotating shaft, a first motor, a gantry, a top frame, a translation mechanism and a hoisting mechanism There are two first guide rails arranged in parallel along the first direction, each of the first guide rails is provided with a base, the lower ends of the base are installed with walking wheels at intervals along the first direction, and the upper end of the base is installed with a gantry , the top of the gantry is connected by the top frame, the top frame is installed with a translation mechanism along the second direction, and the translation mechanism is set on the hoisting mechanism; the two traveling wheels corresponding to the position along the second direction are connected by a rotating shaft, One of the traveling wheels is connected to the output shaft of the first motor and is driven to rotate by the first motor. A speed sensor is arranged on one side of the first motor, a load sensor is arranged on the base, a position sensor is arranged on one side of the hoisting mechanism, and the hoisting mechanism There is a pose sensor on it; The digital twin of the gantry crane includes four parts: a physical space module, a communication module, an algorithm module, and a client display module, and the physical space module includes a gantry crane and several sensors arranged on the gantry crane; The method for constructing the digital twin of the gantry crane includes the following steps: (1) Arrange a number of sensors in the gantry crane of the physical space module to collect data on the action and state of the gantry crane, and perform statics on the gantry crane through the data collected by the load sensor, speed sensor, pose sensor and position sensor. Analyze and determine the key factors affecting 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) In the algorithm module, the noise reduction and denoising methods are used to preprocess the data transmitted by the communication module to improve the signal-to-noise ratio, and then fuse the data calculated by the mechanism model, AI algorithm, expert knowledge and analytical model. , complete the virtual and real fusion of the gantry crane data, and use the real-time sensor data as input to realize the online calculation of the crane geometry and structural mechanical properties; (4) Visualize the data calculated by the algorithm module and the data collected by the sensors of the physical space module on the client in the form of a three-dimensional model and information quantification, respectively, to assist users in making rational decisions. 2. The method for constructing a digital twin of a gantry crane according to claim 1, characterized in that: the hoisting mechanisms are provided with two; The structure includes a sling, and the pose sensor is arranged at the end of the sling. 3. the construction method of a kind of gantry crane digital twin body according to claim 1 and 2, is characterized in that: described communication module comprises bluetooth communication, wireless network communication, local area network communication and GPRS communication, and the above-mentioned communication mode is through TCP /IP, NETBEUI, IPX/SPX transfer data to the algorithm module. 4. the construction method of a kind of gantry crane digital twin body according to claim 3, is characterized in that: in step (1), also need to carry out real-time collection to the working environment of gantry crane; Realize the gantry crane by 3D scanner The 3D solid modeling of the gantry crane is used to observe the progress of the gantry crane operation in real time. 5. the construction method of a kind of gantry crane digital twin body according to claim 1, is characterized in that: the data information of physical space module is mapped to the digital world of algorithm module through communication module, to the characteristics, behavior and High-fidelity description and modeling of performance, etc., 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, material, behavior, etc., to achieve a faithful mirroring of the physical world to the digital world . 6 . The method for constructing a digital twin of a gantry crane according to claim 1 , wherein the client display module displays equipment running posture monitoring, equipment failure warning and equipment mechanical performance evaluation. 7 .

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