CN117475041B - Digital twin shore bridge simulation method based on RCMS - Google Patents
Digital twin shore bridge simulation method based on RCMS Download PDFInfo
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- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 238000004519 manufacturing process Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 8
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- 230000002457 bidirectional effect Effects 0.000 claims description 4
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
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- 238000004873 anchoring Methods 0.000 description 3
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- 239000000725 suspension Substances 0.000 description 2
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Abstract
The invention relates to the field of digital analog systems of port shore bridges, in particular to a digital twin shore bridge analog method based on RCMS, which comprises the following steps: (1) Acquiring equipment data and action parameters of a quay crane, and manufacturing action simulation animation based on the equipment data and the action parameters; (2) Displaying the motion animation conversion of the quay crane equipment in a digital twin scene based on a satellite map; (3) Acquiring whether the equipment operates or not, and synchronizing the animation and the actual action of the equipment; (4) The WebSocket plug-in is used for connecting a server in the illusion engine, a heartbeat mechanism is established, and the connection state is detected every 3 seconds, and compared with the prior art, the invention has the following beneficial effects: and generating a three-dimensional digital twin scene synchronous with the quay crane equipment based on a digital twin technology, monitoring the operation of the quay crane equipment by using RCMS data, wherein the animation is consistent with the actual action, so that the actual operation state of the quay crane is known, and other monitoring means are not needed.
Description
Technical Field
The invention relates to the field of digital simulation systems of port shore bridges, in particular to a digital twin shore bridge simulation method based on RCMS.
Background
The shore bridge is used as an important component of port logistics, and a driving mechanism of the shore bridge is a key for guaranteeing cargo loading and unloading operation. Effective collection and analysis of operational data of the drive mechanism is critical to ensuring safety and operational efficiency of the quay, however, conventional quay monitoring and maintenance methods have many limitations, such as insufficient practicality, inconvenient information acquisition, more manual intervention, and the like. With the rapid development of the digitizing technology, a digital twin simulation system is created as an innovative solution, and unprecedented convenience and high efficiency are brought to the operation and management of port shore bridges.
The shore bridge simulation system is based on a digital technology and aims to realize the high reduction, real-time monitoring and intelligent management of the port shore bridge. The method has the core ideas that the shore bridge driving equipment in the physical world is mapped into the virtual world through a digital technology to create a virtual model corresponding to the real shore bridge equipment, in the prior art, an automatic wharf digital twin system only can display the equipment position and whether the equipment is in a working state, but for the key equipment of the shore bridge, the real restoration of the shore bridge action cannot be carried out, and the equipment cannot be separated from a machine room for use.
Therefore, the digital twin shore bridge simulation method based on RCMS is developed, not only has urgent research value, but also has good economic benefit and industrial application potential, and is the power position and foundation for the invention.
Disclosure of Invention
The present inventors have conducted intensive studies to overcome the above-mentioned drawbacks of the prior art, and have completed the present invention after a great deal of creative effort.
Specifically, the technical problems to be solved by the invention are as follows: a digital twin shore bridge simulation method based on RCMS is provided to solve the technical problems.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a digital twin shore bridge simulation method based on RCMS comprises the following steps:
(1) Acquiring equipment data and action parameters of a quay crane, and manufacturing action simulation animation based on the equipment data and the action parameters;
(2) Displaying the motion animation conversion of the quay crane equipment in a digital twin scene based on a satellite map;
(3) Acquiring whether the equipment operates or not, and synchronizing the animation and the actual action of the equipment;
(4) The WebSocket plug-in is used in the illusion engine to connect to the server and establish a heartbeat mechanism to detect the connection status every 3 seconds.
In the invention, as an improvement, a digital twin scene adopts a WebSocket communication protocol for bidirectional real-time communication, and the cooperative operation among driving mechanism models is ensured based on WS data.
In the invention, as an improvement, the shore bridge equipment data and the action parameters comprise equipment lifting speed, lifting height and equipment position.
In the invention, as an improvement, in the step (2), the longitude and latitude difference of the wharf GIS satellite map is converted with the size of the map model, and then the coordinate position is obtained by multiplying the coefficient and the longitude and latitude.
In the invention, as an improvement, the specific process of the step (3) is as follows:
a. identifying returned device parameters, wherein the status identifies whether the device is operational, and the identified parameters include status, location, and speed;
b. making animation with corresponding duration according to the equipment action interval;
C. and (3) according to the corresponding relation between the proportional conversion equipment action and the animation time axis, controlling the animation playing to correspond to the equipment action.
In the invention, as an improvement, in the step a, identifying the equipment after identifying the parameters, wherein the return value 0 is stop, 1 is work, the equipment operation interval is between 0 and 1, and the equipment operation interval is accurate to the five digits after the decimal point;
stopping playing the animation when the return value is 0, returning the animation to the time line with the position of 0, and acquiring the percentage parameter in real time and playing the animation when the return value is 1.
In the present invention, as an improvement, the calculation of the scaling device action and animation time axis is as follows:
the animation production time is t, and the animation height ism_hThe animation speed isThe lifting speed of the equipment is as followsmThe lifting height ishThe device action time is +.> ，Whereby: />；
When the actual lifting position ishThe playing time of the animation is when the time is metersThe same proportion conversion can be obtained:the method comprises the steps of carrying out a first treatment on the surface of the And transmitting the returned and converted data to a time axis of the animation, and controlling the playing position of the animation.
Compared with the prior art, the invention has the beneficial effects that:
(1) And generating a three-dimensional digital twin scene synchronous with the quay crane equipment based on a digital twin technology, monitoring the operation of the quay crane equipment by using RCMS data, wherein the animation is consistent with the actual action, so that the actual operation state of the quay crane is known, and other monitoring means are not needed.
(2) In order to realize the digital twin simulation system of the shore bridge, firstly, a data transmission mode needs to be determined, real-time equipment simulation needs to be delayed with low time, and in consideration of reverse control of the anchoring of the shore bridge, bidirectional real-time communication needs to be realized, so that a WebSocket communication protocol is selected to be used, and cooperative operation among driving mechanism models needs to be ensured based on WS data.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
FIG. 1 is a schematic flow chart of a simulation method of the present invention;
fig. 2 is a flow chart of the data transmission of the WS server connected in the illusion engine of the present invention.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.
A digital twin shore bridge simulation method based on RCMS comprises the following steps:
(1) The method comprises the steps of obtaining data and action parameters of the shore bridge equipment, manufacturing action simulation animation based on the equipment data and the action parameters, wherein the shore bridge equipment is arranged at a port hoisting position, the shore bridge parameters and the action information are obtained by measuring and calculating based on the existing equipment, and manufacturing the simulation animation consistent with the shore bridge equipment and the action thereof by using the measured and calculated data through the existing animation manufacturing technology.
(2) And displaying the motion animation of the quay crane equipment in the digital twin scene based on the satellite map in a conversion way, wherein the quay crane animation is required to be placed at a designated coordinate position in the digital twin scene and is matched with the actual positioning.
(3) And acquiring whether the equipment operates or not, synchronizing the animation with the actual action of the equipment, and only in the operating state of the equipment, playing the animation in a matched mode with the actual operation action of the equipment, wherein the animation is positioned on a static interface of the equipment when the equipment is stopped.
(4) And a WebSocket plugin is used for connecting a server in the illusion engine, a heartbeat mechanism is established, the connection state is detected every 3 seconds, the digital twin scene is established based on the illusion engine BlueTint, and the WebSocket plugin is connected with a ws server to monitor the connection state.
The digital twin scene adopts the WebSocket communication protocol to carry out bidirectional real-time communication, and ensures the cooperative operation among the driving mechanism models based on WS data.
The shore bridge equipment data and the action parameters comprise relevant parameters of suspension lifting speed, lifting height, cart position, trolley position and shore bridge pitching angle, wherein the lifting height comprises maximum lifting height, minimum lifting height and initial suspension height.
In the step (2), the longitude and latitude difference of the wharf GIS satellite map is converted with the size of the map model, and then the coordinate position is obtained through multiplying the coefficient and the longitude and latitude.
The conversion process is as follows:
known quay bridge longitude asA_LONLet the length of the model beLENThe origin longitude of the lower left corner of the satellite map isW_L_LONThe origin longitude of the lower right corner isW_R_LONAssume that the X coordinate axis position of a quay bridge in a scene isXThe conversion formula is as follows:；
similarly, the Y coordinate axis positions areYThe conversion formula is as follows:wherein LAT: latitude LON: longitude;
the specific process of the step (3) is as follows:
and converting the RCMS original data, identifying returned parameters, wherein the parameters comprise states, positions and speeds, the states identify whether the equipment is currently running, if the returned value is 0, the equipment is stopped, and if the returned value is 1, the equipment is working. The position parameter is the position information of the relative lowest point, the unit is m, and the unit of the speed parameter is m/min. Calculating the percentage of the position in 0-1 by converting the minimum height, maximum height and speed of the known lifting mechanism, and accurately obtaining the five digits after decimal point;
and respectively manufacturing corresponding range animations, such as a lifting animation, a trolley walking animation, a pitching animation and a cart moving animation, through the activity interval of the known equipment, wherein each animation corresponds to the motion process of the actual equipment.
The calculation of the scaling device actions and animation time axis is as follows:
the animation production time is t, and the animation height ism_hThe animation speed isThe lifting speed of the equipment is as followsmThe lifting height ishThe device action time is +.> ，Whereby: />；
When the actual lifting position ishThe playing time of the animation is when the time is metersThe same proportion conversion can be obtained:the method comprises the steps of carrying out a first treatment on the surface of the And transmitting the returned and converted data to a time axis of the animation, and controlling the playing position of the animation.
When the parameter of the return anchoring state is 0, the cart stops playing the animation, returns to the time line with the position of 0, the pitching angle reaches the maximum value, the cart walks and lifts to the initial state, and when the parameter of the anchoring state is 1, the percentage parameter is acquired in real time and the animation is driven.
Stopping playing the animation when the return value is 0, returning the animation to the time line with the position of 0, and acquiring the percentage parameter in real time and playing the animation when the return value is 1.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (5)
1. The digital twin shore bridge simulation method based on RCMS is characterized by comprising the following steps:
(1) Acquiring equipment data and action parameters of a quay crane, and manufacturing action simulation animation based on the equipment data and the action parameters;
(2) Displaying the motion animation conversion of the quay crane equipment in a digital twin scene based on a satellite map;
(3) Acquiring whether the equipment operates or not, and synchronizing the animation and the actual action of the equipment;
(4) A WebSocket plug-in is used for connecting a server in the illusion engine, a heartbeat mechanism is established, and the connection state is detected every 3 seconds;
the specific process of the step (3) is as follows:
a. identifying returned device parameters, wherein the status identifies whether the device is operational, and the identified parameters include status, location, and speed;
b. making animation with corresponding duration according to the equipment action interval;
C. according to the corresponding relation between the equipment action and the animation time axis, controlling the animation playing to correspond to the equipment action;
the calculation of the scaling device actions and animation time axis is as follows:
the animation production time is t, and the animation height ism_hThe animation speed isThe lifting speed of the equipment is as followsmThe lifting height ishThe device action time is +.>Thereby:
；
when the actual lifting position ishThe playing time of the animation is when the time is metersThe same proportion conversion can be obtained:
；
transmitting the returned and converted data to a time axis of the animation, and controlling the playing position of the animation;
the shore bridge equipment data and the action parameters comprise equipment lifting speed, lifting height, equipment position and shore bridge pitching angle.
2. The digital twin quay bridge simulation method based on RCMS according to claim 1, wherein: the digital twin scene adopts the WebSocket communication protocol to carry out bidirectional real-time communication, and ensures the cooperative operation among the driving mechanism models based on WS data.
3. The digital twin quay bridge simulation method based on RCMS according to claim 1, wherein: in the step (2), the longitude and latitude difference of the wharf GIS satellite map is converted with the size of the map model, and then the coordinate position is calculated through a conversion formula.
4. A digital twin quay bridge simulation method based on RCMS according to claim 3, wherein the X coordinate conversion formula is:
wherein,LONfor the quay bridge longitude,LENfor the length of the model,W_L_LONfor the origin longitude of the lower left corner of the satellite map,W_R_LONlongitude is the origin of the lower right corner;
the Y coordinate conversion formula is:
wherein,LATfor the coastal bridge latitude,WIDis the model length.
5. The digital twin shore bridge simulation method based on RCMS according to claim 1, wherein in step a, the equipment is identified after identifying the parameters, wherein the return value 0 is stop, 1 is work, the equipment operation interval is between 0 and 1, and the five digits after the decimal point are accurate;
stopping playing the animation when the return value is 0, returning the animation to the time line with the position of 0, and acquiring the percentage parameter in real time and playing the animation when the return value is 1.
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