Portal crane stress digital twinning three-dimensional visual method
By using spatial coordinate conversion, grid mapping and data alignment methods in gantry cranes, the problem of inaccurate display of stress data in digital twin models in the existing technology is solved, and the accurate three-dimensional display and monitoring of stress data is realized .
Patent Information
- Application Number
- CN202411309738.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-19
- Publication Date
- 2025-02-18
AI Technical Summary
The prior art is difficult to accurately display stress data in the digital twin model of gantry cranes, mainly because the correspondence between stress data and digital model is difficult to determine, resulting in inaccurate display.
Through spatial coordinate transformation, grid mapping and data alignment, the precise mapping and display of stress data between the gantry crane entity and the digital twin model is realized. The specific steps include dividing the entity and model into units and grids, performing coordinate transformation and grid mapping, and accurately displaying it in the digital twin model through frame formation and data normalization.
The accuracy of displaying stress data of gantry cranes in digital models is improved, ensuring the accurate presentation of stress data in digital space, and avoiding monitoring artifacts caused by inaccurate display.
Smart Images
Figure CN119478197A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the field of electrical digital data processing, and in particular relates to a three-dimensional visualization method of a digital twin of gantry crane stress. Background Art
[0002] The stress data generated by the gantry crane needs to be presented in the digital model of the gantry crane. However, from a structural point of view, there may be inconsistencies in the proportions between the digital models and physical entities of different structures of the gantry crane. At the same time, how to accurately map the stress data generated by the physical gantry crane to the digital space is also a current research difficulty. This is mainly reflected in the many-to-many relationship between the stress data and the different areas of the gantry crane digital twin. It is difficult to accurately determine the correspondence between the stress data and the corresponding areas of the digital model. As a result, even if the stress data is accurate, the inaccurate presentation in the digital space creates the illusion of inaccurate stress data monitoring.
[0003] The shortcomings of the existing technology are that the existing gantry crane stress data display method usually relies on a single coordinate system or a simple data mapping method, which leads to inaccurate display of stress data in the digital twin model, especially when converting between different coordinate systems, errors are prone to occur. Summary of the invention
[0004] The technical problem to be solved by the present invention is to provide a three-dimensional visualization method of the digital twin of gantry crane stress, which improves the accuracy of the gantry crane stress data displayed in the digital model through spatial coordinate transformation, grid mapping and data alignment display.
[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A three-dimensional visualization method of a digital twin of gantry crane stress, the steps are as follows: Perform spatial coordinate conversion between the gantry crane entity and the gantry crane digital twin model to ensure accurate mapping of stress data between the gantry crane entity and the gantry crane digital twin model; Mesh the two structures of the gantry crane entity and the gantry crane digital twin model, and realize the mapping between the grids; Based on the data input after the gantry crane entity is meshed, the data is aligned and displayed in the digital twin model to achieve accurate three-dimensional presentation of the gantry crane stress in the gantry crane digital twin model.
[0006] Preferably, the spatial coordinate conversion between the gantry crane entity and the gantry crane digital twin model is performed to ensure accurate mapping of stress data between the gantry crane entity and the gantry crane digital twin model, and the steps are: From the perspective of mechanical structure, the gantry crane entity is divided into n units, namely Mr =[ M r1 , M r2 , …, M rn ],in M r Represents a gantry crane entity, M rn Represents the nth unit of the gantry crane entity; according to the gantry crane entity division method, the gantry crane digital twin model is divided into n units, which is M v =[ M v1 , M v2 , …, M vn ],in M v represents the digital twin model of the gantry crane, M vn represents the nth unit of the digital twin model of the gantry crane; remember M rn The origin coordinates are ( X rn , Y rn , Z rn ),remember M rn The vertex coordinates are ( X’ rn , Y’ rn , Z’ rn ), also remember M vn The origin coordinates are ( X vn , Y vn , Z vn ),remember M vn The vertex coordinates are ( X’ vn , Y’ vn , Z’ vn ); when( X’ rn - X rn ) / ( X’ vn – Xvn )、( Y’ rn - Y rn ) / ( Y’ vn – Y vn )、( Z’ rn - Z rn ) / ( X’ vn – X vn ) When the three values are consistent, it means that the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in the spatial coordinates. At this time, an n-dimensional array is constructed. P =[ P 1, P 2, …, P n ],in P n =( X’ rn - X rn ) / ( X’ vn – X vn ); otherwise, it indicates that there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates. In this case, an n-dimensional array is constructed. Q =[ Q 1, Q 2, …, Q n ],in Q n =max[( X’ rn - X rn ) / ( X’ vn – X vn ),( Y’ rn - Y rn ) / ( Y’ vn – Y vn ),( Z’ rn - Z rn ) / ( X’ vn –X vn )].
[0007] Preferably, the two structures of the gantry crane entity and the gantry crane digital twin model are gridded, and mapping between the grids is achieved; the steps are: Will M rn Divided into k grids, where k represents M rn There are k stress data, and the kth grid is recorded as M k rn ; Similarly M vn Divided into k grids, the kth grid is recorded as M k vn ; In terms of grid area, when the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in spatial coordinates, M k rn = M k vn × P n ; When there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates, M k rn = M k vn × Q n .
[0008] Preferably, the data input based on the meshing of the gantry crane entity is aligned and displayed in the digital twin model to achieve accurate three-dimensional presentation of the gantry crane stress in the gantry crane digital twin model, and the steps are as follows: The stress data generated by the gantry crane entity is framed, and its frame structure includes a frame header, a unit identifier, a grid identifier, a scale identifier, a scale, a data area, a check code, and a frame tail; the unit identifier indicates the unit serial number of the gantry crane entity; the scale identifier takes the value of '0' or '1', and '1' indicates that there is a certain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates; when the scale identifier takes the value of '1', this bit takes the value P n , otherwise the value Q n; The data area represents stress data; the check code is the unit identifier, grid identifier, scale identifier, scale, and check code of the data area; The digital twin model of the gantry crane receives the data frame, and determines the spatial position of the stress data in the digital twin model of the gantry crane according to the guidance of the unit identifier and the grid identifier, and determines the area size of the stress data in the digital twin model of the gantry crane according to the scale identifier and the scale; normalizes the data in the data area, and fills the corresponding grid according to the RGB color mode.
[0009] A gantry crane stress digital twin three-dimensional visualization system, comprising: Heterogeneous coordinate conversion module for gantry cranes: used to realize the spatial coordinate conversion between the gantry crane entity and the gantry crane digital twin model, ensuring accurate mapping of stress data between the two; Gantry crane multi-type structure meshing and mapping module: used to mesh the two structures of the gantry crane entity and the gantry crane digital twin model and realize the mapping between the meshes; Gantry crane stress digital twin 3D visualization module: used to align and display data in the digital twin model based on the meshed data input of the gantry crane entity, so as to achieve accurate 3D presentation of gantry crane stress in the gantry crane digital twin model.
[0010] Preferably, the steps of the program instructions executed by the gantry crane heterogeneous coordinate conversion module are: From the perspective of mechanical structure, the gantry crane entity is divided into n units, namely M r =[ M r1 , M r2 , …, M rn ],in M r Represents a gantry crane entity, M rn Represents the nth unit of the gantry crane entity; according to the gantry crane entity division method, the gantry crane digital twin model is divided into n units, which is M v =[ M v1 , M v2 , …, M vn ],in M v represents the digital twin model of the gantry crane, M vnrepresents the nth unit of the digital twin model of the gantry crane; remember M rn The origin coordinates are ( X rn , Y rn , Z rn ),remember M rn The vertex coordinates are ( X’ rn , Y’ rn , Z’ rn ), also remember M vn The origin coordinates are ( X vn , Y vn , Z vn ),remember M vn The vertex coordinates are ( X’ vn , Y’ vn , Z’ vn ); when( X’ rn - X rn ) / ( X’ vn – X vn )、( Y’ rn - Y rn ) / ( Y’ vn – Y vn )、( Z’ rn - Z rn ) / ( X’ vn – X vn ) When the three values are consistent, it means that the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in the spatial coordinates. At this time, an n-dimensional array is constructed. P =[ P 1, P 2, …, P n ],in Pn =( X’ rn - X rn ) / ( X’ vn – X vn ); otherwise, it indicates that there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates. In this case, an n-dimensional array is constructed. Q =[ Q 1, Q 2, …, Q n ],in Q n =max[( X’ rn - X rn ) / ( X’ vn – X vn ),( Y’ rn - Y rn ) / ( Y’ vn – Y vn ),( Z’ rn - Z rn ) / ( X’ vn – X vn )]. Preferably, the program instruction steps executed by the gantry crane multi-type structure mesh division and mapping module are: Will M rn Divided into k grids, where k represents M rn There are k stress data, and the kth grid is recorded as M k rn ; Similarly M vn Divided into k grids, the kth grid is recorded as M k vn ; In terms of grid area, when the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in spatial coordinates, M krn = M k vn × P n ; When there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates, M k rn = M k vn × Q n .
[0011] Preferably, the program instruction steps executed by the gantry crane stress digital twin three-dimensional visualization module are: The stress data generated by the gantry crane entity is framed, and its frame structure includes a frame header, a unit identifier, a grid identifier, a scale identifier, a scale, a data area, a check code, and a frame tail; the unit identifier indicates the unit serial number of the gantry crane entity; the scale identifier takes the value of '0' or '1', and '1' indicates that there is a certain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates; when the scale identifier takes the value of '1', this bit takes the value P n , otherwise the value Q n ; The data area represents stress data; the check code is the unit identifier, grid identifier, scale identifier, scale, and check code of the data area; The digital twin model of the gantry crane receives the data frame, and determines the spatial position of the stress data in the digital twin model of the gantry crane according to the guidance of the unit identifier and the grid identifier, and determines the area size of the stress data in the digital twin model of the gantry crane according to the scale identifier and the scale; normalizes the data in the data area, and fills the corresponding grid according to the RGB color mode.
[0012] A computer device comprising: one or more processors; The processor is used to store one or more programs; When the one or more programs are executed by the one or more processors, a three-dimensional visualization method of digital twin of gantry crane stress is implemented.
[0013] A computer-readable storage medium having a computer program stored thereon, which, when executed, implements a three-dimensional visualization method of a digital twin of gantry crane stress.
[0014] The present invention can achieve the following beneficial effects: The present invention covers the design of a heterogeneous coordinate conversion module for a gantry crane, a multi-type structural grid division and mapping module for a gantry crane, and a three-dimensional visual module for a digital twin of stress for a gantry crane, which can improve the accuracy of displaying the stress data of the gantry crane in the digital model to a certain extent.
[0015] (1) Based on spatial coordinate transformation and grid mapping, the mapping relationship between stress data and the corresponding area of the digital model can be accurately determined; (2) By framing the multi-source stress data, the spatial position and area size of the stress data in the digital twin model of the gantry crane can be accurately determined. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 This is a structural block diagram of a three-dimensional visualization method for stress digital twins of a gantry crane according to the present invention; Figure 2 This is a structural block diagram of the physical stress data frame of the gantry crane of the present invention. DETAILED DESCRIPTION
[0017] Embodiment 1: The preferred solution is Figure 1 to Figure 2 As shown, a three-dimensional visualization method of the digital twin of gantry crane stress, including a gantry crane heterogeneous coordinate conversion module, a gantry crane multi-type structure mesh division and mapping module and a gantry crane stress digital twin three-dimensional visualization module design, can improve the accuracy of the gantry crane stress data displayed in the digital model to a certain extent.
[0018] The structural block diagram of the present invention is as follows Figure 1 As shown, the specific implementation is as follows: (1) Figure 1 1 in the figure represents the gantry crane heterogeneous coordinate conversion module, which realizes the spatial coordinate conversion between the gantry crane entity and the gantry crane digital twin model to ensure the accurate mapping of stress data between the two. The specific implementation is as follows: ① From the perspective of mechanical structure, the gantry crane entity is divided into n units, namely M r =[ M r1 , M r2 , …, M rn ],in M r Represents a gantry crane entity, M rnRepresents the nth unit of the gantry crane entity; according to the gantry crane entity division method, the gantry crane digital twin model is divided into n units, which is M v =[ M v1 , M v2 , …, M vn ],in M v represents the digital twin model of the gantry crane, M vn represents the nth unit of the digital twin model of the gantry crane; The gantry crane entity is divided into multiple units from the perspective of mechanical structure. Each unit represents a component of the gantry crane, such as the trolley, the main beam, the secondary beam, etc. For example, the gantry crane entity can be represented as M r =[ M r1 , M r2 , …, M rn ].
[0019] ② Note M rn The origin coordinates are ( X rn , Y rn , Z rn ),remember M rn The vertex coordinates are ( X’ rn , Y’ rn , Z’ rn ), also remember M vn The origin coordinates are ( X vn , Y vn , Z vn ),remember M vn The vertex coordinates are ( X’ vn , Y’ vn , Z’ vn ); According to the division method of gantry crane entities, the digital twin model of gantry crane can also be divided into corresponding units, so as to ensure the one-to-one correspondence between the entity and the digital model.
[0020] ③ When ( X’ rn - X rn ) / ( X’ vn – X vn )、( Y’ rn - Y rn ) / ( Y’ vn – Y vn )、( Z’ rn - Z rn ) / ( X’ vn – X vn ) When the three values are consistent, it means that the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in the spatial coordinates. At this time, an n-dimensional array is constructed. P =[ P 1, P 2, …, P n ],in P n =( X’ rn - X rn ) / ( X’ vn – X vn ); otherwise, it indicates that there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates. In this case, an n-dimensional array is constructed. Q =[ Q 1, Q 2, …, Q n ],in Q n =max[( X’ rn - X rn ) / ( X’ vn – X vn ),(Y’ rn - Y rn ) / ( Y’ vn – Y vn ),( Z’ rn - Z rn ) / ( X’ vn – X vn )]; If in some cases there are minor deviations or inconsistencies between the physical and digital models, the mapping accuracy can be optimized by adjusting the proportional relationships. P and Q The scale values in the array ensure that the position and size of each unit in the digital twin model are as close as possible to the actual position and size.
[0021] (2) Figure 1 2 in the figure represents the gantry crane multi-type structure meshing and mapping module, which meshes the two structures of the gantry crane entity and the gantry crane digital twin model and realizes the mapping between the meshes. The specific implementation is as follows: ① M rn Divided into k grids, where k represents M rn There are k stress data, and the kth grid is recorded as M k rn ; Similarly M vn Divided into k grids, the kth grid is recorded as M k vn ; ② In terms of grid area, when the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in spatial coordinates, M k rn = M k vn × P n ; When there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates, M k rn = M k vn× Q n ; In order to improve the accuracy of mapping, advanced mapping algorithms can be introduced, such as machine learning-based methods to optimize the mapping relationship between grids. The relationship between the actual stress distribution and the stress distribution in the digital twin model can be learned by training the model, thereby improving the accuracy and robustness of the mapping.
[0022] (3) Figure 1 The 3 in the figure represents the 3D visualization module of the digital twin of gantry crane stress. This module aligns and displays the data in the digital twin model based on the meshed data input of the gantry crane entity, and realizes the accurate 3D presentation of the gantry crane stress in the digital twin model of the gantry crane. The specific implementation is as follows: ① The stress data generated by the gantry crane entity is framed, and its frame structure is [frame header, unit identifier, grid identifier, scale identifier, scale, data area, check code, frame tail], where the frame header and frame tail can be defined by yourself, the unit identifier represents the unit serial number of the gantry crane entity; the scale identifier takes the value of '0' or '1', '1' means that the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in the spatial coordinates; when the scale identifier takes the value of '1', this bit takes the value P n , otherwise the value Q n ; The data area represents stress data; the check code is the unit identifier, grid identifier, scale identifier, scale, and data area check code. The specific check form can be defined by yourself; ② The digital twin model of the gantry crane receives the data frame in ①, and determines the spatial position of the stress data in the digital twin model of the gantry crane according to the guidance of the unit identifier and the grid identifier, and determines the regional size of the stress data in the digital twin model of the gantry crane according to the scale identifier and the scale; normalizes the data in the data area to a value range of 0~255, and fills the corresponding grid according to the RGB color mode, where the stress data corresponds to blue to red from small to large.
[0023] To enhance the visualization effect, an interactive visualization tool can be introduced to allow users to view specific stress values by hovering the mouse, or zoom in on a specific area by clicking to view more detailed stress distribution. In addition, animation effects can be introduced to show how stress changes over time, helping engineers better understand and analyze the stress distribution of gantry cranes.
[0024] In summary, the present invention discloses a three-dimensional visualization method of a digital twin of gantry crane stress, including a heterogeneous coordinate conversion module for a gantry crane, a multi-type structural mesh division and mapping module for a gantry crane, and a three-dimensional visualization module design for a digital twin of gantry crane stress, which can improve the accuracy of the gantry crane stress data displayed in the digital model to a certain extent.
[0025] Embodiment 2: A gantry crane stress digital twin three-dimensional visualization system, comprising: Heterogeneous coordinate conversion module for gantry cranes: used to realize the spatial coordinate conversion between the gantry crane entity and the gantry crane digital twin model, ensuring accurate mapping of stress data between the two; Gantry crane multi-type structure meshing and mapping module: used to mesh the two structures of the gantry crane entity and the gantry crane digital twin model and realize the mapping between the meshes; Gantry crane stress digital twin 3D visualization module: used to align and display data in the digital twin model based on the meshed data input of the gantry crane entity, so as to achieve accurate 3D presentation of gantry crane stress in the gantry crane digital twin model.
[0026] Preferably, the steps of the program instructions executed by the gantry crane heterogeneous coordinate conversion module are: From the perspective of mechanical structure, the gantry crane entity is divided into n units, namely M r =[ M r1 , M r2 , …, M rn ],in M r Represents a gantry crane entity, M rn Represents the nth unit of the gantry crane entity; according to the gantry crane entity division method, the gantry crane digital twin model is divided into n units, which is M v =[ M v1 , M v2 , …, M vn ],in M v represents the digital twin model of the gantry crane, M vn represents the nth unit of the digital twin model of the gantry crane; remember M rnThe origin coordinates are ( X rn , Y rn , Z rn ),remember M rn The vertex coordinates are ( X’ rn , Y’ rn , Z’ rn ), also remember M vn The origin coordinates are ( X vn , Y vn , Z vn ),remember M vn The vertex coordinates are ( X’ vn , Y’ vn , Z’ vn ); when( X’ rn - X rn ) / ( X’ vn – X vn )、( Y’ rn - Y rn ) / ( Y’ vn – Y vn )、( Z’ rn - Z rn ) / ( X’ vn – X vn ) When the three values are consistent, it means that the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in the spatial coordinates. At this time, an n-dimensional array is constructed. P =[ P 1, P 2, …, P n ],in P n =( X’ rn - Xrn ) / ( X’ vn – X vn ); otherwise, it indicates that there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates. In this case, an n-dimensional array is constructed. Q =[ Q 1, Q 2, …, Q n ],in Q n =max[( X’ rn - X rn ) / ( X’ vn – X vn ),( Y’ rn - Y rn ) / ( Y’ vn – Y vn ),( Z’ rn - Z rn ) / ( X’ vn – X vn )]. Preferably, the program instruction steps executed by the gantry crane multi-type structure mesh division and mapping module are: Will M rn Divided into k grids, where k represents M rn There are k stress data, and the kth grid is recorded as M k rn ; Similarly M vn Divided into k grids, the kth grid is recorded as M k vn ; In terms of grid area, when the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in spatial coordinates, M k rn = M k vn × Pn ; When there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates, M k rn = M k vn × Q n .
[0027] Preferably, the program instruction steps executed by the gantry crane stress digital twin three-dimensional visualization module are: The stress data generated by the gantry crane entity is framed, and its frame structure includes a frame header, a unit identifier, a grid identifier, a scale identifier, a scale, a data area, a check code, and a frame tail; the unit identifier indicates the unit serial number of the gantry crane entity; the scale identifier takes the value of '0' or '1', and '1' indicates that there is a certain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates; when the scale identifier takes the value of '1', this bit takes the value P n , otherwise the value Q n ; The data area represents stress data; the check code is the unit identifier, grid identifier, scale identifier, scale, and check code of the data area; The digital twin model of the gantry crane receives the data frame, and determines the spatial position of the stress data in the digital twin model of the gantry crane according to the guidance of the unit identifier and the grid identifier, and determines the area size of the stress data in the digital twin model of the gantry crane according to the scale identifier and the scale; normalizes the data in the data area, and fills the corresponding grid according to the RGB color mode.
[0028] Embodiment 3: A computer device comprising: one or more processors; The processor is used to store one or more programs; When the one or more programs are executed by the one or more processors, a three-dimensional visualization method of digital twin of gantry crane stress is implemented.
[0029] Embodiment 4: A computer-readable storage medium having a computer program stored thereon, which, when executed, implements a three-dimensional visualization method of a digital twin of gantry crane stress.
[0030] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.
Claims
1. A three-dimensional visualization method for digital twin of gantry crane stress, characterized by: Perform spatial coordinate conversion between the gantry crane entity and the gantry crane digital twin model to ensure accurate mapping of stress data between the gantry crane entity and the gantry crane digital twin model; Mesh the two structures of the gantry crane entity and the gantry crane digital twin model, and realize the mapping between the grids; Based on the data input after the gantry crane entity is meshed, the data is aligned and displayed in the digital twin model to achieve accurate three-dimensional presentation of the gantry crane stress in the gantry crane digital twin model.
2. A 3D visualization method of digital twin of gantry crane stress according to claim 1, characterized in that: The spatial coordinate conversion between the gantry crane entity and the gantry crane digital twin model is performed to ensure accurate mapping of stress data between the gantry crane entity and the gantry crane digital twin model, and the steps are as follows: From the perspective of mechanical structure, the gantry crane entity is divided into n units, namely M r =[ M r1 , M r2 , …, M rn ],in M r Represents a gantry crane entity, M rn Represents the nth unit of the gantry crane entity; According to the entity division method of gantry crane, the digital twin model of gantry crane is divided into n units, namely M v =[ M v1 , M v2 , …, M vn ],in M v represents the digital twin model of the gantry crane, M vn represents the nth unit of the digital twin model of the gantry crane; remember M rn The origin coordinates are ( X rn , Y rn , Z rn ),remember M rn The vertex coordinates are ( X’ rn , Y’ rn , Z’ rn ), also remember M vn The origin coordinates are ( X vn , Y vn , Z vn ),remember M vn The vertex coordinates are ( X’ vn , Y’ vn , Z’ vn ); when( X’ rn - X rn ) / ( X’ vn – X vn )、( Y’ rn - Y rn ) / ( Y’ vn – Y vn )、( Z’ rn - Z rn ) / ( X’ vn – X vn ) When the three values are consistent, it means that the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in the spatial coordinates. At this time, an n-dimensional array is constructed. P =[ P 1, P 2, …, P n ],in P n =( X’ rn - X rn ) / ( X’ vn – X vn ); otherwise, it indicates that there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates. In this case, an n-dimensional array is constructed. Q =[ Q 1, Q 2, …, Q n ],in Q n =max[( X’ rn - X rn ) / ( X’ vn – X vn ),( Y’ rn - Y rn ) / ( Y’ vn – Y vn ）,（ Z’ rn - Z rn ） / （ X’ vn – X vn ）]。 3. The three-dimensional visualization method of the digital twin of gantry crane stress according to claim 1 is characterized by: The steps of meshing the two structures of the gantry crane entity and the gantry crane digital twin model and realizing the mapping between the grids are as follows: Will M rn Divided into k grids, where k represents M rn There are k stress data, and the kth grid is recorded as M k rn ; Similarly M vn Divided into k grids, the kth grid is recorded as M k vn ; In terms of grid area, when the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in spatial coordinates, M k rn = M k vn × P n ; When there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates, M k rn = M k vn × Q n .
4. The three-dimensional visualization method of the digital twin of gantry crane stress according to claim 1 is characterized by: The data input based on the meshing of the gantry crane entity is aligned and displayed in the digital twin model to achieve accurate three-dimensional presentation of the gantry crane stress in the gantry crane digital twin model. The steps are: The stress data generated by the gantry crane entity is framed, and its frame structure includes a frame header, a unit identifier, a grid identifier, a scale identifier, a scale, a data area, a check code, and a frame tail; the unit identifier indicates the unit serial number of the gantry crane entity; the scale identifier takes the value of '0' or '1', and '1' indicates that there is a certain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates; when the scale identifier takes the value of '1', this bit takes the value P n , otherwise the value Q n ;The data area represents stress data; The check code is a check code of a unit identifier, a grid identifier, a scale identifier, a scale, and a data area; The digital twin model of the gantry crane receives the data frame, and determines the spatial position of the stress data in the digital twin model of the gantry crane according to the guidance of the unit identifier and the grid identifier, and determines the area size of the stress data in the digital twin model of the gantry crane according to the scale identifier and the scale; normalizes the data in the data area, and fills the corresponding grid according to the RGB color mode.
5. A gantry crane stress digital twin 3D visualization system, characterized by: include: Heterogeneous coordinate conversion module for gantry cranes: used to realize the spatial coordinate conversion between the gantry crane entity and the gantry crane digital twin model, ensuring accurate mapping of stress data between the two; Gantry crane multi-type structure meshing and mapping module: used to mesh the two structures of the gantry crane entity and the gantry crane digital twin model and realize the mapping between the meshes; Gantry crane stress digital twin 3D visualization module: used to align and display data in the digital twin model based on the meshed data input of the gantry crane entity, so as to achieve accurate 3D presentation of gantry crane stress in the gantry crane digital twin model.
6. A gantry crane stress digital twin 3D visualization system according to claim 5, characterized in that: The steps of the program instructions executed by the gantry crane heterogeneous coordinate conversion module are: From the perspective of mechanical structure, the gantry crane entity is divided into n units, namely M r =[ M r1 , M r2 , …, M rn ],in M r Represents a gantry crane entity, M rn Represents the nth unit of the gantry crane entity; According to the entity division method of gantry crane, the digital twin model of gantry crane is divided into n units, namely M v =[ M v1 , M v2 , …, M vn ],in M v represents the digital twin model of the gantry crane, M vn represents the nth unit of the digital twin model of the gantry crane; remember M rn The origin coordinates are ( X rn , Y rn , Z rn ),remember M rn The vertex coordinates are ( X’ rn , Y’ rn , Z’ rn ), also remember M vn The origin coordinates are ( X vn , Y vn , Z vn ),remember M vn The vertex coordinates are ( X’ vn , Y’ vn , Z’ vn ); when( X’ rn - X rn ) / ( X’ vn – X vn )、( Y’ rn - Y rn ) / ( Y’ vn – Y vn )、( Z’ rn - Z rn ) / ( X’ vn – X vn ) When the three values are consistent, it means that the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in the spatial coordinates. At this time, an n-dimensional array is constructed. P =[ P 1, P 2, …, P n ],in P n =( X’ rn - X rn ) / ( X’ vn – X vn ); otherwise, it indicates that there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates. In this case, an n-dimensional array is constructed. Q =[ Q 1, Q 2, …, Q n ],in Q n =max[( X’ rn - X rn ) / ( X’ vn – X vn ),( Y’ rn - Y rn ) / ( Y’ vn – Y vn ）,（ Z’ rn - Z rn ） / （ X’ vn – X vn ）]。 7. The three-dimensional visualization method of the digital twin of gantry crane stress according to claim 1 is characterized by: The program instruction steps executed by the gantry crane multi-type structure mesh division and mapping module are: Will M rn Divided into k grids, where k represents M rn There are k stress data, and the kth grid is recorded as M k rn ; Similarly M vn Divided into k grids, the kth grid is recorded as M k vn ; In terms of grid area, when the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model have a certain proportional relationship in spatial coordinates, M k rn = M k vn × P n ; When there is an uncertain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates, M k rn = M k vn × Q n .
8. The three-dimensional visualization method of the digital twin of gantry crane stress according to claim 1 is characterized by: The program instruction steps executed by the gantry crane stress digital twin 3D visualization module are: The stress data generated by the gantry crane entity is framed, and its frame structure includes a frame header, a unit identifier, a grid identifier, a scale identifier, a scale, a data area, a check code, and a frame tail; the unit identifier indicates the unit serial number of the gantry crane entity; the scale identifier takes the value of '0' or '1', and '1' indicates that there is a certain proportional relationship between the nth unit of the gantry crane entity and the nth unit of the gantry crane digital twin model in the spatial coordinates; when the scale identifier takes the value of '1', this bit takes the value P n , otherwise the value Q n ;The data area represents stress data; The check code is a check code of a unit identifier, a grid identifier, a scale identifier, a scale, and a data area; The digital twin model of the gantry crane receives the data frame, and determines the spatial position of the stress data in the digital twin model of the gantry crane according to the guidance of the unit identifier and the grid identifier, and determines the area size of the stress data in the digital twin model of the gantry crane according to the scale identifier and the scale; normalizes the data in the data area, and fills the corresponding grid according to the RGB color mode.
9. A computer device, characterized in that: include: one or more processors; The processor is used to store one or more programs; When the one or more programs are executed by the one or more processors, a three-dimensional visualization method of digital twin of gantry crane stress as described in any one of claims 1 to 4 is implemented.
10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed, a three-dimensional visualization method of a digital twin of gantry crane stress is implemented as described in any one of claims 1 to 4.