Method and device for simulating and real-time monitoring of tower crane working mechanism parameters

Abstract

The purpose of this application is to provide a method and device for real-time monitoring of the parameters of a tower crane working mechanism. This application obtains the tower crane operating status data corresponding to the tower crane working mechanism; transmits the operating status data into a simulation environment in which a physical engine is built; establishes a simulation model in the simulation environment, monitors the parameters of the tower crane working mechanism in real time through the simulation model, and visualizes the parameters of the tower crane working mechanism. Thus, the tower crane and the tower crane working mechanism in the real scene are simulated into the simulation environment, so as to simulate the corresponding situation in the simulation environment, and monitor the parameters of the tower crane working mechanism in real time in the simulation environment.

Description

Technical Field

[0001] The present application relates to the field of computers, and in particular to a method and device for simulating and real-time monitoring of parameters of a tower crane working mechanism. Background Art

[0002] In the construction of high-rise buildings, tower cranes are essential machinery used to lift raw materials such as steel bars, wooden planks, and steel pipes. When lifting objects, tower cranes need to know the height of the objects they have lifted, the angle of inclination, and the weight of the objects, so as to complete the lifting work safely and accurately. However, there is currently no real-time monitoring of the parameters of the tower crane's working mechanism. Instead, the operators of the tower cranes conduct some manual observations, which have low accuracy, low safety, and cannot visualize more information about the tower crane's working mechanism. Summary of the invention

[0003] One purpose of the present application is to provide a method and device for simulating real-time monitoring of tower crane working mechanism parameters, so as to solve the problems in the prior art that the tower crane working mechanism parameters cannot be monitored in real time, the parameters observed manually have low accuracy and low safety, and more working mechanism parameters cannot be displayed visually.

[0004] According to one aspect of the present application, a method for simulating and real-time monitoring of parameters of a tower crane working mechanism is provided, the method comprising:

[0005] Obtain the tower crane operation status data corresponding to the tower crane working mechanism;

[0006] The running status data is transmitted to the simulation environment for building the physical engine;

[0007] A simulation model is established in the simulation environment, and the parameters of the tower crane working mechanism are monitored in real time through the simulation model, and the parameters of the tower crane working mechanism are visually displayed.

[0008] Optionally, the tower crane working mechanism includes: a slewing mechanism, a luffing mechanism and a lifting mechanism.

[0009] Optionally, obtaining tower crane operation status data corresponding to the tower crane working mechanism includes:

[0010] The laser sensor is used to transmit light from the center of the load object on the tower crane in the real scene to the ground and the tower crane base, and the vertical distance between the load object and the ground and the horizontal distance between the load object and the tower arm are measured;

[0011] The IMU sensor is used to calculate the attitude of the load object on the tower crane in the real scene, and the real-time speed and acceleration of the load object on the tower crane are obtained;

[0012] The rotation angle of the tower crane's boom and the distance between the trolley and the boom axis are acquired through sensors;

[0013] The operating status data of the tower crane is obtained based on the vertical distance between the load object and the ground, the horizontal distance from the load object to the tower arm, the real-time speed and acceleration of the load object on the tower crane, the rotation angle of the tower crane's boom, and the distance between the lifting trolley and the axis of the boom.

[0014] Optionally, establishing a simulation model in the simulation environment includes:

[0015] By visually scanning the terrain around the tower crane in the real environment in three dimensions, a simulated terrain three-dimensional model is established in the simulation environment, and world coordinates corresponding to the terrain around the tower crane in the real environment are added to the simulated terrain three-dimensional model;

[0016] After the simulated terrain three-dimensional model with the world coordinates added is scaled to the same proportion, the relative coordinates with the tower crane are fixed according to the input operation status data.

[0017] Optionally, the method comprises:

[0018] The physical engine is used to calculate the environmental parameters of the tower crane in the simulation environment.

[0019] Optionally, the method comprises:

[0020] The speed parameter and the corresponding distance of the tower crane in the simulation environment are determined according to the operation status data, the simulated three-dimensional terrain model and the calculated environmental parameters in the simulation environment.

[0021] Optionally, visually displaying the tower crane working mechanism parameters includes:

[0022] Calculating parameters of a sensor installed on the tower crane, and connecting the parameters of the sensor with the simulation environment to calculate an error value between the parameters of the tower crane working mechanism obtained in the simulation environment;

[0023] The obtained error value is displayed in real time on the simulation interface and adjusted automatically.

[0024] Optionally, visually displaying the tower crane working mechanism parameters includes:

[0025] The parameters of the tower crane working mechanism are marked accordingly and displayed visually, wherein a first mark is used to represent the vertical distance between the load object and the ground, a second mark is used to represent the horizontal distance from the load object to the tower arm, and a third mark is used to represent the distance between the lifting trolley and the axis of the heavy arm.

[0026] According to another aspect of the present application, a device for simulating and real-time monitoring of parameters of a tower crane working mechanism is also provided, the device comprising:

[0027] one or more processors; and

[0028] A memory storing computer readable instructions, which, when executed, cause the processor to perform the operations of the method as described above.

[0029] According to another aspect of the present application, a computer-readable medium is provided, on which computer-readable instructions are stored. The computer-readable instructions can be executed by a processor to implement the method described above.

[0030] Compared with the prior art, the present application obtains the tower crane operation status data corresponding to the tower crane working mechanism; transmits the operation status data into the simulation environment of the physical engine; establishes a simulation model in the simulation environment, monitors the tower crane working mechanism parameters in real time through the simulation model, and visualizes the tower crane working mechanism parameters. Thus, the tower crane and the tower crane working mechanism in the real scene are simulated into the simulation environment, so as to simulate the corresponding situation in the simulation environment, and monitor the parameters of the tower crane working mechanism in real time in the simulation environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0032] Figure 1 A schematic flow chart of a method for simulating and real-time monitoring of parameters of a tower crane working mechanism provided according to one aspect of the present application is shown;

[0033] Figure 2 A diagram showing a visual display interface of tower crane working mechanism parameters monitored in one embodiment of the present application.

[0034] The same or similar reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0035] The present application is described in further detail below in conjunction with the accompanying drawings.

[0036] In a typical configuration of the present application, the terminal, the device of the service network and the trusted party all include one or more processors (eg, a central processing unit (CPU)), an input / output interface, a network interface and a memory.

[0037] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0038] Computer readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, Phase-Change RAM (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of random access memory (RAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. According to the definition in this article, computer-readable media does not include non-transitory media such as modulated data signals and carrier waves.

[0039] Figure 1 A schematic flow chart of a method for real-time simulation monitoring of the working mechanism parameters of a tower crane provided according to one aspect of the present application is shown, the method comprising: steps S11 to S13, wherein, in step S11, the operating status data of the tower crane corresponding to the working mechanism of the tower crane is obtained; in step S12, the operating status data is transmitted to a simulation environment in which a physical engine is built; in step S13, a simulation model is established in the simulation environment, the working mechanism parameters of the tower crane are monitored in real time through the simulation model, and the working mechanism parameters of the tower crane are displayed visually. Thus, the tower crane and the working mechanism of the tower crane in the real scene are simulated into the simulation environment, so as to simulate the corresponding situation in the simulation environment, and the parameters of the working mechanism of the tower crane are monitored in real time in the simulation environment.

[0040] Specifically, in step S11, the tower crane operation status data corresponding to the tower crane working mechanism is obtained; here, the operation status of the tower crane is first obtained, and the operation status is a description of the tower crane operation status generated when the tower crane working mechanism is working in a real environment, and the real environment is the actual scene where the real tower crane is located, such as a certain operation site, and the tower crane working mechanism is used to complete the tower crane to load and unload objects, etc. Multiple types of sensors are installed on the tower crane, so that several groups of data describing the tower crane operation status generated by the tower crane working mechanism can be collected through the sensors.

[0041] Specifically, in step S12, the operating status data is transmitted to the simulation environment in which the physical engine is built; here, the obtained operating status data is transmitted to the simulation environment so as to simulate the parameters of the tower crane working mechanism in the real physical scene based on the simulation environment and calculate the real-time parameters. A physical engine is built in the simulation environment, and the physical engine is a real-time parameter calculation system that simulates the real physical scene through physical modeling, such as the gravity of the object, air resistance, atmospheric pressure, the physical structure of the tower crane itself, and the tension of the rope, so that the physical engine calculates the object speed, height, distance, air humidity, temperature, wind force and other simulation parameters at future times according to the current speed and direction of the tower crane object received.

[0042] Specifically, in step S13, a simulation model is established in the simulation environment, and the parameters of the tower crane working mechanism are monitored in real time through the simulation model, and the parameters of the tower crane working mechanism are displayed visually. Here, the real environment is aligned with the simulation environment, and a simulation model is established. The simulation model is a model that truly simulates the information in the real environment. For example, the terrain in the real environment, the simulation model includes a simulated terrain model, and for example, the tower crane in the real environment, the simulation model also includes a tower crane model, so that the situation of the real environment is simulated in the simulation environment. The simulated tower crane is monitored by the established simulation model, such as monitoring the parameters of the tower crane working mechanism, so that the actual parameters of the tower crane working mechanism in the real environment can be accurately reflected, and how the tower crane works. The real-time monitored information is displayed visually, which is convenient for operators to understand the information of the tower crane more clearly and make real-time adjustments.

[0043] In one embodiment of the present application, the tower crane working mechanism includes: a slewing mechanism, a luffing mechanism and a lifting mechanism. Here, the tower crane has a working mechanism, such as three major motors: a slewing mechanism, a luffing mechanism and a lifting mechanism, so that the tower crane can perform operations such as slewing direction, luffing and lifting of goods. The tower crane working mechanism will generate data describing the operating status of the tower crane, such as the rotation angle of the boom, the distance between the trolley and the axis of the boom, and the distance between the load object and the ground.

[0044] In some embodiments of the present application, in step S11, a laser sensor is used to transmit from the center of the load object on the tower crane in the real scene to the ground and the tower crane base to measure the vertical distance between the load object and the ground and the horizontal distance between the load object and the tower arm; the IMU sensor is used to perform attitude calculation on the load object on the tower crane in the real scene to obtain the real-time speed and acceleration of the load object when on the tower crane; the sensor is used to obtain the rotation angle of the tower crane's boom and the distance between the trolley and the axis of the boom; the operation status data of the tower crane is obtained according to the vertical distance between the load object and the ground, the horizontal distance between the load object and the tower arm, the real-time speed and acceleration of the load object when on the tower crane, the rotation angle of the tower crane's boom, and the distance between the trolley and the axis of the boom. Here, the laser sensor can transmit from the center of gravity of the object to the ground and the tower crane base to measure the vertical distance between the object and the ground and the distance between the object and the tower root. The IMU sensor is installed on the tower crane to calculate the speed and acceleration, and the positioning sensor (GPS) is used to calculate the absolute geographic coordinates. The calculated data is transmitted to the simulation environment in real time and displayed. The world coordinate axis is always displayed with the object as the center and changes with the object's posture. Among them, when using IMU for calculation, the navigation result is obtained from the original angular velocity collected by the IMU through the gyroscope and the acceleration data calculated by the accelerometer. The navigation result includes position, speed, attitude, etc. GPS also calculates the longitude and latitude and other information through internal algorithms. The directly collected data is acceleration and angular velocity. The required data can be calculated by integration and other methods, such as "angular velocity->attitude", "acceleration->speed", "speed->position". The actual movement speed of the tower crane object at each geographic coordinate is determined according to the calculated speed, acceleration and geographic coordinates. After obtaining the actual movement speed, it is fused and displayed at a combined rate. The rotation angle of the crane arm and the distance of the crane trolley from the axis of the heavy arm in the tower crane working mechanism parameters are all measured by the sensor algorithm, and then the data describing the operation status of the tower crane is determined after the parameter information is obtained by different sensors.

[0045] In some embodiments of the present application, in step S13, a simulated terrain three-dimensional model is established in the simulation environment by visual three-dimensional scanning of the terrain around the tower crane in the real environment, and the world coordinates of the terrain around the tower crane in the real environment are added to the simulated terrain three-dimensional model; after the simulated terrain three-dimensional model after adding the world coordinates is scaled in the same proportion, the relative coordinates with the tower crane are fixed according to the input operation status data. Here, the terrain around the tower crane in the real environment is constructed after visual three-dimensional scanning modeling. First, the terrain around the tower crane in the real environment is visually scanned in three dimensions, and each position coordinate is represented by the world coordinate system, and then the simulated terrain three-dimensional model is constructed in the simulation environment. The parameters of the surrounding terrain in the real environment are passed into the simulation environment, and the world coordinates of the surrounding terrain in the real environment are added after the model is constructed, so that the surrounding environment simulated in the simulation environment also has world coordinates. After the same proportion scaling, the relative coordinates with the tower crane are fixed, that is, the current operation state of the tower crane is maintained in the simulation environment, and the posture of the tower crane in the two environments is kept consistent, so as to monitor the working mechanism of the tower crane in the simulated real environment in real time.

[0046] In some embodiments of the present application, the method includes: calculating the environmental parameters of the tower crane in the simulation environment through the physical engine. Here, when simulating in the simulation environment, the environmental parameters of the tower crane are also simulated, and the environmental parameters include physical factors such as humidity, temperature, wind force, air resistance, atmospheric pressure, etc. of the environment where the tower crane is located. The physical engine is used to calculate the environmental parameters in real time to obtain more accurate parameters of the tower crane working mechanism.

[0047] In some embodiments of the present application, the method includes: determining the speed parameters and corresponding distance of the tower crane in the simulation environment according to the operating status data, the simulated three-dimensional terrain model and the calculated environmental parameters in the simulation environment. Here, when simulating the tower crane information in real life, the tower crane operating status data obtained in the real environment is transferred to the simulation environment, and the tower crane and related information in the real environment are described more realistically and accurately in combination with the constructed simulated three-dimensional terrain model and the obtained environmental parameters, so as to simulate the tower crane in the real environment more accurately, and then calculate the speed parameters and corresponding distance of the tower crane in the simulation environment, and the corresponding distance includes the vertical distance between the load object and the ground, the horizontal distance from the load object to the tower arm, and the distance between the hoisting trolley and the axis of the heavy arm, etc.

[0048] In some embodiments of the present application, after visually displaying the parameters of the tower crane working mechanism, the parameters of the sensor installed on the tower crane are calculated, and the parameters of the sensor are connected to the simulation environment to calculate the error value between the parameters of the tower crane working mechanism obtained in the simulation environment; the obtained error value is displayed in real time on the simulation interface and automatically adjusted. Here, the sensor installed on the tower crane can calculate the parameters of the sensor, and the calculated parameters of the sensor include the parameters of the tower crane working mechanism, so that the calculated parameters of the sensor are connected to the simulation software through embedded communication and web technology, and transmitted to the simulation environment, and then the corresponding parameters calculated in the simulation environment are corrected, specifically, the calculated parameters of the sensor in the real environment are compared with the tower crane working mechanism parameters calculated in the simulation environment to obtain the error value, and then the error value is output in real time on the simulation interface and automatically adjusted, such as small acceleration and deceleration values.

[0049] In some embodiments of the present application, in step S13, the parameters of the tower crane working mechanism are marked accordingly and displayed visually, wherein a first mark is used to represent the vertical distance between the load object and the ground, a second mark is used to represent the horizontal distance from the load object to the tower arm, and a third mark is used to represent the distance between the lifting trolley and the axis of the heavy arm. Here, after aligning the real environment with the simulation environment, the real construction site tower crane scene is simulated in the simulation environment. With the addition of a physical engine, the information of the tower crane itself can be fed back. This information constitutes an assisted driving system, and the data of the system is assisted by visualization and real-time automatic adjustment. When performing a visual display, different distances can be represented by different marks. For example, a first mark is used to represent the vertical distance between the load object and the ground, a second mark is used to represent the horizontal distance from the load object to the tower arm, and a third mark is used to represent the distance between the lifting trolley and the axis of the heavy arm. For example, Figure 2 As shown in the figure, in the simulation interface, the distance is represented by two one-way arrows. The direction of the arrows remains unchanged, and the arrow close to the base of the tower crane boom and the arrow close to the ground maintain the same displacement, but can rotate with the boom. The other two arrows close to the object produce horizontal and vertical displacements (arrow A and arrow B) respectively as the center of gravity of the object changes, but the relative position with the boom remains consistent. The distance and height of the current object are represented by the coordinate Euclidean distance between the arrows.

[0050] Through the above method, the parameters of the tower crane working mechanism can be monitored based on real simulation. The objects in the simulation environment and the real environment maintain the same posture for real-time display and are finally fed back to the real scene. The monitoring results are more accurate and can display more actual scenes. The real-time monitoring and feedback of the tower crane movement in the simulation environment can be completed, which is provided as an auxiliary driving means.

[0051] In addition, an embodiment of the present application also provides a computer-readable medium on which computer-readable instructions are stored. The computer-readable instructions can be executed by a processor to implement the aforementioned method.

[0052] Corresponding to the method described above, the present application also provides a terminal, which includes a terminal capable of executing the above Figure 1 or Figure 2 The modules or units of the method steps described in the various embodiments may be implemented by hardware, software, or a combination of hardware and software, which is not limited in the present application. For example, in one embodiment of the present application, a terminal is also provided, and the terminal includes:

[0053] one or more processors; and

[0054] A memory storing computer readable instructions, which, when executed, cause the processor to perform the operations of the method as described above.

[0055] For example, the computer readable instructions, when executed, cause the one or more processors to:

[0056] Obtain the tower crane operation status data corresponding to the tower crane working mechanism;

[0057] The running status data is transmitted to the simulation environment for building the physical engine;

[0058] A simulation model is established in the simulation environment, and the parameters of the tower crane working mechanism are monitored in real time through the simulation model, and the parameters of the tower crane working mechanism are visually displayed.

[0059] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0060] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, can be implemented using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of the present application (including relevant data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0061] In addition, a part of the present application may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present application through the operation of the computer. The program instruction for calling the method of the present application may be stored in a fixed or removable recording medium, and / or transmitted through a data stream in a broadcast or other signal-bearing medium, and / or stored in a working memory of a computer device that runs according to the program instruction. Here, according to an embodiment of the present application, a device is included, the device including a memory for storing computer program instructions and a processor for executing program instructions, wherein, when the computer program instruction is executed by the processor, the device is triggered to run the method and / or technical solution based on the aforementioned multiple embodiments according to the present application.

[0062] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

Claims

1. A method for simulating and real-time monitoring of tower crane working mechanism parameters, characterized in that: The method comprises: Obtain the tower crane operation status data corresponding to the tower crane working mechanism; The running state data is transmitted to a simulation environment in which a physical engine is built, and the physical engine calculates simulation parameters at a future time according to the received current speed and direction of the tower crane, wherein the simulation parameters include the speed, height, distance, air humidity, temperature, and wind force of the tower crane; Establishing a simulation model in the simulation environment, monitoring the working mechanism parameters of the tower crane in real time through the simulation model, and visually displaying the working mechanism parameters of the tower crane; Calculating parameters of a sensor installed on the tower crane, and connecting the parameters of the sensor with the simulation environment to calculate an error value between the parameters of the tower crane working mechanism obtained in the simulation environment; The obtained error value is displayed in real time on the simulation interface and adjusted automatically.

2. The method according to claim 1, characterized in that The tower crane working mechanism comprises: a slewing mechanism, a luffing mechanism and a lifting mechanism.

3. The method according to claim 1, characterized in that Obtain the tower crane operation status data corresponding to the tower crane working mechanism, including: The laser sensor is used to transmit light from the center of the load object on the tower crane in the real scene to the ground and the tower crane base, and the vertical distance between the load object and the ground and the horizontal distance between the load object and the tower arm are measured; The IMU sensor is used to calculate the attitude of the load object on the tower crane in the real scene, and the real-time speed and acceleration of the load object on the tower crane are obtained; The rotation angle of the tower crane's boom and the distance between the trolley and the boom axis are acquired through sensors; The operating status data of the tower crane is obtained based on the vertical distance between the load object and the ground, the horizontal distance from the load object to the tower arm, the real-time speed and acceleration of the load object on the tower crane, the rotation angle of the tower crane's boom, and the distance between the lifting trolley and the axis of the boom.

4. The method according to claim 1, characterized in that Establishing a simulation model in the simulation environment includes: By visually scanning the terrain around the tower crane in the real environment in three dimensions, a simulated terrain three-dimensional model is established in the simulation environment, and world coordinates corresponding to the terrain around the tower crane in the real environment are added to the simulated terrain three-dimensional model; After the simulated terrain three-dimensional model with the world coordinates added is scaled to the same proportion, the relative coordinates with the tower crane are fixed according to the input operation status data.

5. The method according to claim 4, characterized in that The method comprises: The physical engine is used to calculate the environmental parameters of the tower crane in the simulation environment.

6. The method according to claim 5, characterized in that The method comprises: The speed parameter and the corresponding distance of the tower crane in the simulation environment are determined according to the operation status data, the simulated three-dimensional terrain model and the calculated environmental parameters in the simulation environment.

7. The method according to any one of claims 1 to 6, characterized in that Visually display the tower crane working mechanism parameters, including: The parameters of the tower crane working mechanism are marked accordingly and displayed visually, wherein a first mark is used to represent the vertical distance between the load object and the ground, a second mark is used to represent the horizontal distance from the load object to the tower arm, and a third mark is used to represent the distance between the lifting trolley and the axis of the heavy arm.

8. A device for simulating and real-time monitoring of tower crane working mechanism parameters, characterized in that: The device comprises: one or more processors; and A memory storing computer readable instructions which, when executed, cause the processor to perform the operations of the method as claimed in any one of claims 1 to 7.

9. A computer-readable medium having computer-readable instructions stored thereon, wherein the computer-readable instructions can be executed by a processor to implement the method according to any one of claims 1 to 7.

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