Shipyard large crane component collision early warning system and working method thereof

Abstract

The invention relates to a shipyard large crane component collision early warning system and a working method thereof, the system comprises a modeling module, a data acquisition and transmission module and a calculation module, the modeling module establishes an approximate cuboid three-dimensional model for replacing a crane component; the data acquisition and transmission module acquires and transmits position posture data of crane components to the calculation module, and the calculation module calculates and judges whether the crane is collided or not according to the position posture data. The working method comprises the following steps: simplifying crane components into cuboids, expressing edges and surfaces of the cuboids by using a ternary linear equation, calculating intersection points of different edges and surfaces, and judging whether different cuboids collide or not according to coordinate intervals of the intersection points. According to the shipyard large crane component collision early warning system and the working method thereof, the requirement of an algorithm for computing resources can be reduced, and the requirement of the algorithm for real-time performance is met.

Description

Technical Field

[0001] The present invention relates to the field of safe production of ships, and in particular to a shipyard large crane component collision warning system and a working method thereof. Background Art

[0002] Large cranes in shipyards are the core production equipment of shipbuilding enterprises. They are responsible for the lifting of sections and outfitting parts in production areas such as docks and piers of shipyards, as well as the production tasks of loading sections. Since there are many large cranes working in docks and piers, and crane drivers and ground commanders have limited vision, it is difficult to observe the position and posture of each crane in all directions. Once a crane collides, a major safety accident may occur.

[0003] Existing three-dimensional space collision algorithms, such as AABB (axis-aligned bounding box) collision detection, although computationally intensive, cannot be used for collision detection of spatial rotating components; and SAT (separating axis theorem) collision detection, although it can be used to detect collisions of arbitrary convex polyhedrons, has a relatively complex calculation process and a large amount of computation, and places high performance requirements on the computing server. Summary of the invention

[0004] In order to solve the technical problems existing in the prior art, the present invention provides a shipyard large crane component collision warning system and a working method thereof, so as to solve the collision safety hazards in the production process of the shipyard crane.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A collision warning system for large crane components in a shipyard includes a modeling module, a data acquisition and transmission module, and a calculation module. The modeling module establishes an approximate rectangular three-dimensional model that replaces the crane component. The data acquisition and transmission module collects and transmits position and posture data of the crane component to the calculation module. The calculation module calculates and determines whether the crane will collide based on the position and posture data.

[0007] As a preferred technical solution, a working method of a large crane component collision warning system in a shipyard includes the following steps:

[0008] Step 1, establishing an approximate rectangular parallelepiped three-dimensional model to replace the crane component;

[0009] Step 2: Calculate the coordinates of the endpoints, edges, and faces of the approximate cuboid based on the position and posture data provided by the system;

[0010] Step three, calculate the intersection points of the edges and faces of each approximate rectangular parallelepiped and determine whether the crane will collide.

[0011] As a preferred technical solution, in step one, establishing an approximate rectangular block of a crane component includes: configuring the length, width, and height of an enveloping rectangular block according to the design drawings of the main moving components of the crane; and enlarging the length, width, and height of the enveloping rectangular block according to the collision warning distance to form an approximate rectangular block of each component of the crane.

[0012] As a preferred technical solution, step two includes: calculating the endpoint coordinates of the approximate rectangular parallelepiped of each component of the crane based on the position and posture data of the components provided by the data acquisition and transmission module; calculating the three-variable linear equation group of each edge based on the endpoint coordinates, and each approximate rectangular parallelepiped has twelve edges; calculating the three-variable linear equation of each face based on the endpoint coordinates, and each approximate rectangular parallelepiped has six faces.

[0013] As a preferred technical solution, in step three, the step of calculating the intersection of the edge and the surface is to select an edge of the first component of the crane and a surface of the second component to solve the intersection coordinates.

[0014] As a preferred technical solution, in step three, the step of judging whether the crane will collide is as follows: judging whether the intersection is located on the edge of the first component based on the obtained intersection coordinates; if so, the first component collides with the second component and the calculation is stopped; if not, continue to traverse and calculate the intersection of the edge of the first component and the surface of the second component; if all the intersections are not located on the edge of the first component, the first component and the second component do not collide.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The shipyard large crane component collision warning system and working method of the present invention simplify the crane component into a cuboid, use three-variable first-order linear equations to express the edges and faces of the cuboid, calculate the intersections of different edges and faces, and then judge whether different cuboids collide with each other through the coordinate interval of the intersections, thereby reducing the algorithm's requirements for computing resources and meeting the real-time requirements of the algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of the working method of the shipyard large crane component collision warning system of the present invention. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described below in conjunction with specific implementation methods:

[0019] like Figure 1As shown, a collision warning system for large crane components in a shipyard includes a modeling module, a data acquisition and transmission module, and a calculation module. The modeling module establishes an approximate rectangular three-dimensional model to replace the crane component. The data acquisition and transmission module collects and transmits the position and posture data of the crane component to the calculation module. The calculation module calculates and determines whether the crane will collide based on the position and posture data.

[0020] A working method of a shipyard large crane component collision warning system comprises the following steps:

[0021] Step 1, establishing an approximate rectangular parallelepiped three-dimensional model to replace the crane component;

[0022] Specifically, the length, width and height of the enveloping cuboid are configured according to the design drawings of the main moving components of the crane;

[0023] According to the collision warning distance, the length, width and height of the enveloping cuboid are appropriately enlarged to form an approximate cuboid of each component of the crane.

[0024] Step 2: Calculate the coordinates of the endpoints, edges, and faces of the approximate cuboid based on the position and posture data provided by the system;

[0025] Specifically, according to the position and posture data of the components provided by the data acquisition and transmission module, the coordinates of the end points of the approximate rectangular parallelepiped of each component of the crane are calculated;

[0026] According to the endpoint coordinates, calculate the three-variable linear equation system of each edge. Each approximate rectangular parallelepiped has twelve edges.

[0027] According to the endpoint coordinates, calculate the three-variable linear equations of each face, each approximate rectangular parallelepiped has six faces.

[0028] Step three, calculate the intersection points of the edges and faces of each approximate rectangular parallelepiped and determine whether the crane will collide.

[0029] Specifically, in this embodiment, the step of calculating the intersection of the edge and the surface is to select an edge of the crane component A and a surface of the component B, and solve the intersection coordinates;

[0030] According to the coordinates of the intersection obtained by solving, determine whether the intersection is located on the edge of component A; if so, component A collides with component B and the calculation is stopped; if not, continue to traverse and calculate the intersection of the edge of component A and the surface of component B; if all the intersections are not located on the edge of component A, component A and component B do not collide.

[0031] This embodiment is only a further explanation of the invention rather than a limitation of the invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed. However, as long as they are within the scope of the claims of the invention, they are protected by the patent law.

Claims

1. A shipyard large crane component collision warning system, characterized in that: It includes a modeling module, a data acquisition and transmission module and a calculation module. The modeling module establishes an approximate rectangular three-dimensional model to replace the crane component. The data acquisition and transmission module collects and transmits the position and posture data of the crane component to the calculation module. The calculation module calculates and determines whether the crane will collide based on the position and posture data.

2. A working method of the shipyard large crane component collision warning system according to claim 1, characterized in that: The working method comprises the following steps: Step 1, establishing an approximate rectangular parallelepiped three-dimensional model to replace the crane component; Step 2: Calculate the coordinates of the endpoints, edges, and faces of the approximate cuboid based on the position and posture data provided by the system; Step three, calculate the intersection points of the edges and faces of each approximate rectangular parallelepiped and determine whether the crane will collide.

3. The working method of the shipyard large crane component collision warning system according to claim 2 is characterized in that: In the step 1, establishing the approximate rectangular parallelepiped of the crane components includes: configuring the length, width and height of the enveloping rectangular parallelepiped according to the design drawings of the main moving components of the crane; and enlarging the length, width and height of the enveloping rectangular parallelepiped according to the collision warning distance to form the approximate rectangular parallelepiped of each component of the crane.

4. The working method of the shipyard large crane component collision warning system according to claim 2 is characterized in that: The step 2 includes: calculating the endpoint coordinates of the approximate rectangular parallelepiped of each component of the crane according to the position and posture data of the component provided by the data acquisition and transmission module; calculating the three-variable linear equation group of each edge according to the endpoint coordinates, and each approximate rectangular parallelepiped has twelve edges; calculating the three-variable linear equation of each face according to the endpoint coordinates, and each approximate rectangular parallelepiped has six faces.

5. The working method of the shipyard large crane component collision warning system according to claim 2 is characterized in that: In the step three, the step of calculating the intersection of the edge and the surface is to select an edge of the first component of the crane and a surface of the second component to solve the intersection coordinates.

6. The working method of the shipyard large crane component collision warning system according to claim 5 is characterized in that: In the step 3, the step of determining whether the crane will collide is as follows: determining whether the intersection is located on the edge of the first component according to the obtained intersection coordinates; if so, the first component collides with the second component and the calculation is stopped; if not, continuing to traverse and calculate the intersection of the edge of the first component and the surface of the second component; If all the intersection points are not located on the edges of the first component, the first component and the second component do not collide.

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