CN114644292A - Construction method of digital twin of gantry crane - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
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- 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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Abstract
Description
技术领域technical field
本发明涉及数字孪生体技术领域,尤其是一种门式起重机数字孪生体的构建方法。The invention relates to the technical field of digital twins, in particular to a method for constructing a digital twin of a gantry crane.
背景技术Background technique
门式起重机是桥式起重机的一种变形,又叫龙门吊。主要用于室外的货场、料场货、散货的装卸作业。门式起重机具有场地利用率高、作业范围大、适应面广、通用性强等特点,在港口货场得到广泛使用。门式起重机的顶架上安装有平移机构和卷扬机构,平移机构能够带动卷扬机构往复平移,用过卷扬机构吊装货物,顶架的两侧安装两个门架,门架下设置有底座,底座通过行走轮与地面上的导轨连接。可以直接在地面的轨道上行走,为了驱动底座行走。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.
现有的门式起重机没有数字孪生平台,难以实施监测门式起重机工作状态。The existing gantry crane does not have a digital twin platform, so it is difficult to monitor the working status of the gantry crane.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种门式起重机数字孪生体的构建方法,克服前述现有技术的不足,实施监测门式起重机工作状态。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.
本发明解决其技术问题所采取的技术方案是:The technical scheme adopted by the present invention to solve its technical problems is:
一种门式起重机数字孪生体的构建方法,所述门式起重机包括第一导轨、底座、行走轮、转轴、第一电机、门架、顶架、平移机构和卷扬机构,所述第一导轨沿第一方向平行设置有两条,每一条第一导轨上均设置有底座,底座的下方的两端沿第一方向间隔安装有行走轮,底座的上端安装有门架,门架的顶部之间通过顶架连接,顶架上沿第二方向安装有平移机构,平移机构上设置于卷扬机构;沿第二方向位置相对应的两个行走轮之间通过转轴连接,其中一个行走轮与第一电机的输出轴连接并通过第一电机驱动旋转,第一电机的一侧设置有速度传感器,底座上设置有载荷传感器,卷扬机构的一侧设置有位置传感器,卷扬机构上设置有位姿传感器;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 ;
所述门式起重机数字孪生体包括物理空间模块、通信模块、算法模块、客户端显示模块四部分,所述物理空间模块包括门式起重机和设置于门式起重机上的若干传感器;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;
所述门式起重机数字孪生体的构建方法包括如下步骤:The method for constructing the digital twin of the gantry crane includes the following steps:
(1)在物理空间模块的门式起重机中布置若干传感器,对门式起重机的动作、状态进行数据采集,通过载荷传感器、速度传感器、位姿传感器和位置传感器采集到的数据对门式起重机进行静力学分析,确定影响门式起重机结构性能的关键因素;(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)通过通信模块的通讯手段将物理空间模块采集的数据传输到算法模块;(2) The data collected by the physical space module is transmitted to the algorithm module through the communication means of the communication module;
(3)在算法模块中采用降噪和去噪方法对通信模块传输来的数据进行预处理,提高信噪比,然后通过将机理模型、AI算法、专家知识和解析模型计算得到的数据进行融合,完成起门式重机数据的虚实融合,以实时传感器数据作为输入,实现对起重机几何形态和结构力学性能的在线计算;(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)将算法模块计算得到的数据与物理空间模块的传感器采集的数据分别以三维模型和信息量化的形式在客户端可视化,辅助用户合理决策。(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.
进一步的,所述卷扬机构设置有两个;两个卷扬机构的一侧均设置有位置传感器,两个卷扬机构均包括吊绳,位姿传感器设置于吊绳的末端。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.
进一步的,所述通信模块包括蓝牙通讯、无线网络通讯、局域网通讯和GPRS通讯,上述通讯方式通过TCP/IP、NETBEUI、IPX/SPX将数据传输至算法模块。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.
进一步的,步骤(1)中还需要对门式起重机的工作环境进行实时采集;通过3D扫描仪实现对门式起重机的三维实体建模,用于实时观察门式起重机作业进度。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.
进一步的,将物理空间模块的数据信息通过通信模块映射到算法模块的数字世界,对起重机的特征、行为和性能等进行高逼真度描述和建模,使在数字世界中建立的门式起重机虚拟模型与物理空间中的起重机实体在几何、材料、行为等方面保持一致,实现物理世界向数字世界的忠实镜像。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.
进一步的,所述客户端显示模块显示设备运行姿态监控、设备故障预警和设备力学性能评估。Further, the client display module displays equipment operation attitude monitoring, equipment failure early warning and equipment mechanical performance evaluation.
本发明中,算法模块构建的数字世界主要实现物理空间模块中物理世界门式起重机姿态和应力动态实时可视化,经滤波、去噪后的传感数据在线动态驱动数字世界起重机孪生体实时更新门式起重机的动作,使数字世界孪生体与物理世界实体姿态保持一致,实现门式起重机姿态在数字世界实时可视化;数字世界不仅可视化提升门式起重机操作的重物的轨迹,而且以数字的形式显示门式起重机相关点的位移值、重物的载荷大小、重物提升速度、位置等信息,当起重机姿态参数超出规定范围,即可认为姿态异常,数字世界给予警告提示,从多角度、多状态参数描述起重机物理空间姿态;传感数据驱动构建的AI算法实时计算起重机应力值,并通过云图动态显示,系统还实时显示了载荷大小,提升高度等信息;客户端显示模块能够显示起重机的变形云图、起重机的应力云图,在客户端显示模块中通过鼠标点击门式起重机不同位置,状态显示栏中的应力表显示该点对应的应力变化曲线,如此,实现物理空间中门式起重机应力的在线计算和可视化。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.
本发明的有益效果是:与现有技术相比,本发明的一种门式起重机数字孪生体的构建方法具有以下优点:实现物理空间中门式起重机应力的在线计算和可视化。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.
附图说明Description of drawings
图1为本发明门式起重机的立体结构示意图;Fig. 1 is the three-dimensional structure schematic diagram of the gantry crane of the present invention;
图2为本发明门式起重机的俯视结构示意图;Fig. 2 is the top view structure schematic diagram of the gantry crane of the present invention;
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述。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.
一种门式起重机数字孪生体的构建方法,所述门式起重机包括第一导轨1、底座2、行走轮3、转轴4、第一电机5、门架6、顶架7、平移机构8和卷扬机构9,所述第一导轨沿第一方向平行设置有两条,每一条第一导轨上均设置有底座,底座的下方的两端沿第一方向间隔安装有行走轮,底座的上端安装有门架,门架的顶部之间通过顶架连接,顶架上沿第二方向安装有平移机构,平移机构上设置于卷扬机构;沿第二方向位置相对应的两个行走轮之间通过转轴连接,其中一个行走轮与第一电机的输出轴连接并通过第一电机驱动旋转,第一电机的一侧设置有速度传感器,底座上设置有载荷传感器,卷扬机构的一侧设置有位置传感器,卷扬机构上设置有位姿传感器;A method for constructing a digital twin of a gantry crane, the gantry crane includes a first guide rail 1, a base 2, a
所述门式起重机数字孪生体包括物理空间模块、通信模块、算法模块、客户端显示模块四部分,所述物理空间模块包括门式起重机和设置于门式起重机上的若干传感器;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;
所述门式起重机数字孪生体的构建方法包括如下步骤:The method for constructing the digital twin of the gantry crane includes the following steps:
(1)在物理空间模块的门式起重机中布置若干传感器,对门式起重机的动作、状态进行数据采集,通过载荷传感器、速度传感器、位姿传感器和位置传感器采集到的数据对门式起重机进行静力学分析,确定影响门式起重机结构性能的关键因素;(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)通过通信模块的通讯手段将物理空间模块采集的数据传输到算法模块;(2) The data collected by the physical space module is transmitted to the algorithm module through the communication means of the communication module;
(3)在算法模块中采用降噪和去噪方法对通信模块传输来的数据进行预处理,提高信噪比,然后通过将机理模型、AI算法、专家知识和解析模型计算得到的数据进行融合,完成起门式重机数据的虚实融合,以实时传感器数据作为输入,实现对起重机几何形态和结构力学性能的在线计算;(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)将算法模块计算得到的数据与物理空间模块的传感器采集的数据分别以三维模型和信息量化的形式在客户端可视化,辅助用户合理决策。(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.
本实施例中,所述卷扬机构设置有两个;两个卷扬机构的一侧均设置有位置传感器,两个卷扬机构均包括吊绳,位姿传感器设置于吊绳的末端。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.
本实施例中,所述通信模块包括蓝牙通讯、无线网络通讯、局域网通讯和GPRS通讯,上述通讯方式通过TCP/IP、NETBEUI、IPX/SPX将数据传输至算法模块。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.
本实施例中,步骤(1)中还需要对门式起重机的工作环境进行实时采集;通过3D扫描仪实现对门式起重机的三维实体建模,用于实时观察门式起重机作业进度。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.
本实施例中,将物理空间模块的数据信息通过通信模块映射到算法模块的数字世界,对起重机的特征、行为和性能等进行高逼真度描述和建模,使在数字世界中建立的门式起重机虚拟模型与物理空间中的起重机实体在几何、材料、行为等方面保持一致,实现物理世界向数字世界的忠实镜像。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.
本实施例中,所述客户端显示模块显示设备运行姿态监控、设备故障预警和设备力学性能评估。In this embodiment, the client display module displays equipment running posture monitoring, equipment failure warning and equipment mechanical performance evaluation.
本发明中,算法模块构建的数字世界主要实现物理空间模块中物理世界门式起重机姿态和应力动态实时可视化,经滤波、去噪后的传感数据在线动态驱动数字世界起重机孪生体实时更新门式起重机的动作,使数字世界孪生体与物理世界实体姿态保持一致,实现门式起重机姿态在数字世界实时可视化;数字世界不仅可视化提升门式起重机操作的重物的轨迹,而且以数字的形式显示门式起重机相关点的位移值、重物的载荷大小、重物提升速度、位置等信息,当起重机姿态参数超出规定范围,即可认为姿态异常,数字世界给予警告提示,从多角度、多状态参数描述起重机物理空间姿态;传感数据驱动构建的AI算法实时计算起重机应力值,并通过云图动态显示,系统还实时显示了载荷大小,提升高度等信息;客户端显示模块能够显示起重机的变形云图、起重机的应力云图,在客户端显示模块中通过鼠标点击门式起重机不同位置,状态显示栏中的应力表显示该点对应的应力变化曲线,如此,实现物理空间中门式起重机应力的在线计算和可视化。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.
上述具体实施方式仅是本发明的具体个案,本发明的专利保护范围包括但不限于上述具体实施方式的产品形态和式样,任何符合本发明权利要求书且任何所属技术领域的普通技术人员对其所做的适当变化或修饰,皆应落入本发明的专利保护范围。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.
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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 |
CN116654779A (en) * | 2023-06-07 | 2023-08-29 | 中建三局信息科技有限公司 | A digital twin method and system for a tower crane |
WO2025027120A1 (en) * | 2023-08-03 | 2025-02-06 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method for checking and/or monitoring a load carrying system of a crane, and crane comprising a system for checking and/or monitoring a load carrying system |
CN119961664A (en) * | 2025-04-10 | 2025-05-09 | 南京市特种设备安全监督检验研究院 | Data processing method and device and crane digital twin model construction method |
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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 |
CN116654779A (en) * | 2023-06-07 | 2023-08-29 | 中建三局信息科技有限公司 | A digital twin method and system for a tower crane |
CN116654779B (en) * | 2023-06-07 | 2024-12-06 | 中建三局信息科技有限公司 | A digital twin method and system for tower crane |
WO2025027120A1 (en) * | 2023-08-03 | 2025-02-06 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method for checking and/or monitoring a load carrying system of a crane, and crane comprising a system for checking and/or monitoring a load carrying system |
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