CN205634668U - Virtual command system of large -scale hoist and mount operation - Google Patents

Abstract

The utility model belongs to the field of hoisting operation safety control and provides a large-scale hoisting operation virtual command system, which is composed of a real-scene monitoring unit, a virtual guidance unit, a precise positioning unit and a hoisting mechanics analysis unit. The utility model can realize the visualization of the global monitoring of the hoisting site, and build a virtual preview model of the hoisting based on the BIM model. By setting the working conditions and hoisting parameters, the simulation and path optimization of the hoisting process can be realized, so as to grasp the hoisting risks in advance, Formulate a hoisting plan that meets the actual requirements; moreover, through precise positioning and hoisting mechanics analysis, the automation and informatization of hoisting anti-collision and safety control can be realized, and accurate and intuitive pre-alarm information can be provided for the front-line commanders, and crane drivers can be given Issue unified and standardized hoisting instructions to assist crane drivers to complete hoisting operations smoothly and safely, and provide safe, real-time and effective technical support for large-scale hoisting operations.

Description

A virtual command system for large hoisting operations

technical field

The utility model belongs to the field of hoisting operation safety control, in particular to a large-scale hoisting operation virtual command system.

Background technique

With the rapid development of China's economy, domestic petrochemical, water conservancy and hydropower, and infrastructure projects are becoming larger and larger, and their stand-alone equipment is also becoming larger and more sophisticated; and due to the gradual implementation of modular construction, the volume is larger, Larger modules that weigh more are also emerging. The large-scale and heavy-duty hoisting objects make the hoisting process requirements more and more stringent. It is necessary to ensure the accurate hoisting and anti-collision of the hoisting objects, which is far more difficult than the previous hoisting operations. At the same time, according to the relevant situation of special equipment safety in the first half of 2015 announced by the General Administration of Quality Supervision, Inspection and Quarantine, hoisting machinery accidents accounted for 13.5% of the total number of accidents reported by special equipment. Therefore, it is an urgent task to improve the accuracy, safety and predictability of hoisting behavior in the hoisting process of large hoisting objects.

Due to the large size of the hoisting object, the crane is prone to overturning during the hoisting process, and the hoisting site is also prone to structural damage under the condition of excessive load; at the same time, there are many blind spots for the crane driver during the hoisting process; moreover, the site environment Noisy and many cross operations require the command personnel to cooperate with the crane driver to complete the hoisting operation. However, the joint command operation of multiple people will make it difficult to guarantee the communication effect, and it is impossible to guarantee the accuracy and accuracy of the operation only by the commander's own experience to judge whether the hoisting is safe. Safety, inconsistent instructions, and irregularities also have a huge negative impact on the operation of the crane driver, endangering the safety of hoisting operations. Therefore, inventing a set of virtual command cabin for large hoisting operation and its working method has important engineering significance and practical value.

Contents of the invention

The purpose of this utility model is to overcome the deficiencies in the above-mentioned prior art, provide a virtual command system for large-scale hoisting operations, realize the visualization of global domain monitoring on the hoisting site, and build a virtual preview model of hoisting based on the BIM model. By setting working conditions, hoisting parameters to realize the simulation and path optimization of the hoisting process, so as to grasp the hoisting risks in advance and formulate a hoisting plan that meets the actual requirements; moreover, through precise positioning and hoisting mechanical analysis, the automation of hoisting collision prevention and safety control is realized. Informatization, providing accurate and intuitive pre-alarm information for front-line commanders, so as to give unified and standardized hoisting instructions to crane drivers, assist crane drivers to complete hoisting operations smoothly and safely, and provide safe, real-time , Effective technical support.

The purpose of this utility model is achieved through the following technical solutions.

A virtual command system for large-scale hoisting operations, including a real scene monitoring unit, a virtual guidance unit, a precise positioning unit and a hoisting mechanics analysis unit.

The real-scene monitoring unit is composed of a high-definition network camera, a storage server, and a real-scene monitoring client installed in the hoisting scene, and the high-definition network camera is wirelessly connected to the real-scene monitoring client;

The real scene monitoring unit is used to receive the real-time monitoring images uploaded by the high-definition network cameras arranged on the ground and underground, check the site hoisting preparations, monitor and record the hoisting track, and assist the command personnel to check the blind spots of the operation, so as to ensure that they can grasp the pictures of all angles of the hoisting site , to assist him in commanding the crane driver to adjust the posture of the hoisting object, and realize the visualization of the whole hoisting process.

The virtual guidance unit is composed of a human-machine environment information module for inputting/querying hoisting personnel, hoisting machinery, and hoisting environment parameters, and a data processing module for building a hoisting virtual rehearsal model based on a BIM model;

The virtual guidance unit is used to build a virtual preview model of hoisting, realize the simulation and path optimization of the hoisting process, and estimate the hoisting risk to formulate a hoisting plan, and at the same time, realize the actual hoisting and simulation during the actual hoisting process Real-time synchronous playback of real-time, in order to respond to and correct unsafe actions and states that occur during the hoisting process in a timely manner.

The precise positioning unit is composed of an ultrasonic ranging module, a laser ranging module, an angle measuring module, a wireless transceiver module, and a positioning client, which are arranged on the object to be hoisted; the ultrasonic ranging module, laser ranging module, and angle The measurement module is connected with the positioning client through the wireless transceiver module;

The precise positioning unit is used to ensure that the hoisting object maintains a correct posture. The distance between the hoisting object and the working well is measured by using the ultrasonic distance measuring unit, the distance between the hoisting object and the bottom of the well is measured by the laser ranging unit, and the hoisting object is calculated by the angle measurement unit. The inclination angle of the object, the monitoring data is transmitted in real time through the wireless transceiver unit, and aggregated to the terminal monitoring software to realize the real-time display of the above measurement data of the hoisting object, prevent the collision of the hoisting object, and give an alarm to the dangerous scene to remind the commander The hoisting personnel issued instructions to correct the dangerous posture of hoisting in time.

The lifting mechanics analysis unit is composed of a crane data receiving module, a stress-strain wireless sensor arranged on the ground and at the wellhead, and a data processing module; connected, the stress-strain sensor and the crane data receiving module are wirelessly connected to the data processing module;

The hoisting mechanics analysis unit is used to confirm the stress safety of the crane, the hoisting site and the hoisting working condition, and analyze and calculate the crane and the hoisting site by receiving the parameters of the crane moment limiter and the data of the stress and strain sensors arranged on the ground and at the wellhead The safety status of the crane can be visualized, and the force situation of the crane and its working environment can be visualized, and the pre-alarm will be given if the force exceeds the set limit, so as to prevent the crane from overturning and the structural damage of the hoisting site.

The utility model has simple structure and convenient operation, and has the following advantages:

(1) Active safety control: The real-time positioning, real-time monitoring and other technologies adopted by this system can effectively realize the active reminder and pre-alarm of safety risks in hoisting operations;

(2) Integrated control: This system integrates the requirements of video surveillance during large-scale hoisting operations, hoisting scheme simulation and synchronous playback requirements, hoisting anti-collision and early warning requirements, and hoisting force safety control requirements during the whole process of hoisting, so as to realize The unified acquisition and sharing of the above information realizes the safe integrated control of large-scale hoisting;

(3) Improving hoisting efficiency: Commanders use the virtual guidance unit to simulate on-site hoisting in advance, continuously optimize the hoisting path, and predict possible unsafe situations, thereby greatly reducing unnecessary adjustment time during the actual hoisting process.

Description of drawings

Fig. 1 is the schematic diagram of the utility model system.

Fig. 2 is a flow chart of the preparation method of a virtual command system for large-scale hoisting operations of the present invention.

Fig. 3 is a flow chart of the application working method of a large-scale hoisting operation virtual command system of the present invention.

detailed description

Below in conjunction with accompanying drawing and implementation example, the technical solution of the utility model patent is described in detail.

As shown in Figure 1, this implementation case provides a virtual command system for large hoisting operations, including a real scene monitoring unit, a virtual guidance unit, a precise positioning unit and a hoisting mechanics analysis unit.

The real-scene monitoring unit is composed of a high-definition network camera, a storage server, and a real-scene monitoring client installed in the hoisting scene, and the high-definition network camera is wirelessly connected to the real-scene monitoring client;

The real scene monitoring unit is used to receive the real-time monitoring images uploaded by the high-definition network cameras arranged on the ground and underground, check the site hoisting preparations, monitor and record the hoisting track, and assist the command personnel to check the blind spots of the operation, so as to ensure that they can grasp the pictures of all angles of the hoisting site , to assist him in commanding the crane driver to adjust the posture of the hoisting object, and realize the visualization of the whole hoisting process.

The virtual guidance unit is composed of a human-machine environment information module for inputting/querying hoisting personnel, hoisting machinery, and hoisting environment parameters, and a data processing module for building a hoisting virtual rehearsal model based on a BIM model;

The virtual guidance unit is used to build a virtual preview model of hoisting, realize the simulation and path optimization of the hoisting process, and estimate the hoisting risk to formulate a hoisting plan, and at the same time, realize the actual hoisting and simulation during the actual hoisting process Real-time synchronous playback of real-time, in order to respond to and correct unsafe actions and states that occur during the hoisting process in a timely manner.

The precise positioning unit is composed of an ultrasonic ranging module, a laser ranging module, an angle measuring module, a wireless transceiver module, and a positioning client, which are arranged on the object to be hoisted; the ultrasonic ranging module, laser ranging module, and angle The measurement module is connected with the positioning client through the wireless transceiver module;

The precise positioning unit is used to ensure that the hoisting object maintains a correct posture. The distance between the hoisting object and the working well is measured by using the ultrasonic distance measuring unit, the distance between the hoisting object and the bottom of the well is measured by the laser ranging unit, and the hoisting object is calculated by the angle measurement unit. The inclination angle of the object, the monitoring data is transmitted in real time through the wireless transceiver unit, and aggregated to the terminal monitoring software to realize the real-time display of the above measurement data of the hoisting object, prevent the collision of the hoisting object, and give an alarm to the dangerous scene to remind the commander The hoisting personnel issued instructions to correct the dangerous posture of hoisting in time.

The lifting mechanics analysis unit is composed of a crane data receiving module, a stress-strain wireless sensor arranged on the ground and at the wellhead, and a data processing module; connected, the stress-strain sensor and the crane data receiving module are wirelessly connected to the data processing module;

The hoisting mechanics analysis unit is used to confirm the stress safety of the crane, the hoisting site and the hoisting working condition, and analyze and calculate the crane and the hoisting site by receiving the parameters of the crane moment limiter and the data of the stress and strain sensors arranged on the ground and at the wellhead The safety status of the crane can be visualized, and the force situation of the crane and its working environment can be visualized, and the pre-alarm will be given if the force exceeds the set limit, so as to prevent the crane from overturning and the structural damage of the hoisting site.

In the above embodiment, the system equipment installation process is as follows:

(1) A high-definition network camera is arranged at two opposite corners of the wellhead, and a high-definition network camera is arranged at a higher place in the hoisting site to ensure the visualization of the global area of the hoisting site. On the monitor of the real scene monitoring client;

(2) Install the ultrasonic ranging unit on the left and right edges and the front and rear center of the hoisting object, install the laser ranging unit at the bottom of the hoisting object, and install the angle measuring unit at the center of the hoisting object. Real-time monitoring of distance from surrounding structures;

(3) Place the repeater of the wireless transceiver unit near the wellhead, and wirelessly connect with the above three measurement units and the precise positioning client;

(4) Arrange stress and strain wireless sensors on the ground of the hoisting site and inside the bottom of the wellhead, wirelessly connect with the hoisting mechanics analysis module, and transmit stress and strain values in real time;

(5) After the equipment is installed, the integrated network debugging is carried out to ensure the normal use of software and hardware.

As shown in Figure 2, a preparation method for a virtual command system for large-scale hoisting operations is provided. The hoisting process of a large shield cutter head in the specific implementation operation is now introduced as follows:

The first step, relying on the BIM model, for LIEBHERR LR1750 750/2 ton crawler crane and DEMAG CC2400-1 400-ton crawler crane, 15.2m shield cutter head, various operators, and operating environment data to establish a parametric BIM model, in which the parameters include the weight, size and shape of the hoisting objects, ground and shaft size parameters Basic information with hoisting personnel and commanders;

The second step is to carry out path planning in the BIM model of the preliminary hoisting scheme formulated;

The third step is to analyze and calculate the force of the crane through the hoisting mechanics analysis system according to the simulated path planning and given hoisting conditions, and confirm that the crane and hoisting conditions meet the safety requirements;

In the fourth step, for the problem that the crane is too close to the working shaft found in the simulation process, move the position of the crane outward, set a new safety distance and perform re-simulation until the problem is solved;

The fifth step, in the same way, optimize the path for other problems that arise in the simulation process until no more problems occur in the simulation process, thus forming a BIM-based visual virtual hoisting scheme for the shield cutterhead;

The sixth step is to confirm the positioning monitoring plan of the cutterhead hoisting according to the formed visual virtual hoisting scheme.

As shown in Figure 3, an application working method of a virtual command system for large-scale hoisting operations is provided. The hoisting process of a large shield cutter head in the specific implementation operation is now introduced as follows:

The first step is to arrange the ultrasonic ranging unit, laser ranging unit, and angle measuring unit in the corresponding positions according to the virtual hoisting scheme, open the three measuring units and the precise positioning client, and make sure that each measuring unit is working normally through network debugging;

The second step is to open the real scene monitoring client, switch the camera screen, rotate and zoom the camera, and make sure that the high-definition network cameras are working normally;

Step 3: Before the hoisting starts, the commander confirms whether the crane and the site meet the hoisting conditions through the hoisting mechanics analysis system. If it is satisfied, the real scene monitoring system is used to switch the monitoring camera. When it is found that there are still non-operators in the hoisting site, the commander evacuates the personnel through the walkie-talkie ;

In the fourth step, after the evacuation of the personnel, the commander again confirms whether there are still potential safety hazards in the hoisting site and the hoisting underground through the real scene monitoring system.

In the fifth step, the commander directs the auxiliary crane driver to move forward in the direction of the main crane through the screen of the real scene monitoring system combined with the visualized virtual hoisting scheme played synchronously by the virtual guidance system. Issue a command to stop moving forward, and issue a slow lifting command to the main and auxiliary crane drivers at the same time, track and pay attention to the attitude of the cutterhead, and pay attention to the lifting mechanics analysis system until the lifting process of the two cranes is completed;

Step 6: After the cutterhead is adjusted in place, the main crane continues to hoist. At this time, the precise positioning system generates an alarm, and the commander immediately sends a pause command to the driver of the main crane, and then analyzes the alarm position in the precise positioning system, and finds that the cutterhead surface of the cutterhead is The top is only 25cm away from the crossbeam of the portal, so the main crane driver is issued an instruction to slowly adjust forward until the alarm disappears, and an instruction to continue hoisting is issued;

In the seventh step, the commander knows that the cutterhead is only 100cm from the bottom of the well through the laser ranging unit, and sends a slow hoisting command to the main crane driver, and checks the specific position of the cutterhead through the real scene monitoring system until the cutterhead is basically in place. , issue a pause command to the main crane driver, and issue a cutter head installation command to the operator;

In the eighth step, the commander directs the main hoist driver to fine-tune the position of the cutterhead according to the installation requirements of the cutterhead according to the real scene monitoring system, until the cutterhead is installed smoothly, and the last cutterhead hoisting is completed.

Claims (3)

1. a Large-scale Hoisting job virtual command system, it is characterised in that: include outdoor scene monitoring unit, virtual guidance unit, precise positioning unit and lifting mechanical analysis unit；

Described outdoor scene monitoring unit, is made up of the high-definition network camera being arranged in lifting scene, storage server, outdoor scene monitor client, described high-definition network camera and outdoor scene monitor client wireless connections；

Described virtual guidance unit, is formed with for data processing module based on the BIM model construction virtual preview model of lifting by being used for the man-machine ring information module inputting/inquire about hoisting personnel, lifting machine and lifting ambient parameter；

Described precise positioning unit, is formed by the ultrasonic distance measuring module on lifting object, laser ranging module, Angle Measurement Module and radio receiving transmitting module, location client end by being arranged on；Described ultrasonic distance measuring module, laser ranging module, Angle Measurement Module are connected with location client end by radio receiving transmitting module；

Described lifting mechanical analysis unit, by crane data reception module, be laid in the ess-strain wireless senser of ground and well head, data processing module forms；Described crane data reception module is connected with the power angular transducer being arranged on crane, angular transducer, linear transducer, described stress strain gauge and crane data reception module and data processing module wireless connections.

A kind of Large-scale Hoisting job virtual command system the most according to claim 1, it is characterised in that: laying a high-definition network camera respectively at well head two diagonal angle, the eminence in lifting place lays a high-definition network camera.

A kind of Large-scale Hoisting job virtual command system the most according to claim 1, it is characterized in that: at the left and right edges of lifting object and the ultrasonic distance measuring module of center installation front and back, laser ranging module is installed bottom lifting object, at lifting object center setting angle measurement module.