Anti-collision system for hoisting equipment and ship under construction and control method of anti-collision system

Abstract

According to the anti-collision system of the hoisting equipment and the ship under construction and the control method of the anti-collision system of the hoisting equipment and the ship under construction, according to the arrangement position of the ship under construction on a dock berth, the carrying progress of the ship under construction, the boundary dimension of a current hoisting segment of a crane and position data obtained by uninterruptedly detecting the ship under construction in the segment hoisting process of the crane, the ship under construction is constructed; three-dimensional display can be carried out on the carrying process of the ship under construction in the dock, and the dynamic change of the distance between the three-dimensional model of the crane and the segment hung by the crane and the three-dimensional model of the ship under construction can be dynamically displayed, so that alarm prompting can be carried out on the crane which possibly generates interference and the part which possibly generates interference; therefore, the collision between the hoisting equipment and the ship under construction is avoided, and the collision between the hoisting subsection and the related equipment can also be prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of shipbuilding, and in particular to an anti-collision system for a lifting device and a ship under construction and a control method thereof. Background Art

[0002] With the continuous development of global trade, the large-scale ships have become a trend. After the small and medium-sized sections of the ship are built indoors in the section manufacturing workshop, they will be transported to the dock or slipway area for assembly. The dock and slipway are the core resources of shipbuilding companies. Large gantry cranes, various types of portal cranes and other lifting equipment are configured in this area. With the acceleration of the production pace and the continuous changes in the shipbuilding process, the lifting equipment and the ship under construction often interfere with each other, which can cause safety accidents if not paid attention. Summary of the invention

[0003] In view of this, the present invention provides an anti-collision system for a lifting device and a ship under construction and a control method thereof, so as to solve the problems existing in the above-mentioned background technology.

[0004] An anti-collision system for lifting equipment and ships under construction, including a crane monitoring system, a dock and slipway area production management system, a central processing module, and a terminal display module.

[0005] The crane monitoring system is used to obtain the layout position of the crane and continuously monitor the real-time position of the moving part on the crane during the lifting of the segment and transmit the detected position data to the central processing module;

[0006] The dock and slipway area production management system is used to send the layout position of the ship under construction on the dock and slipway, the loading progress of the ship under construction, and the external dimensions of the current hoisting section of the crane to the central processing module;

[0007] The central processing module is used to use the three-dimensional modeling software to construct the ship under construction model and the dock slipway model according to the layout position of the ship under construction on the dock slipway and the loading progress of the ship under construction, and to construct the lifting movement model of the crane and the lifting section as a whole according to the layout position of the crane and the external dimensions of the current lifting section of the crane, and dynamically update the position and posture of the lifting movement model according to the position data received in real time from the crane monitoring system, and send an interference position display instruction to the terminal display module when the distance between the lifting movement model and the ship under construction model is less than a set threshold;

[0008] The terminal display module is used to display the ship model under construction, the dock model and the lifting and moving model with dynamically changing positions, and to highlight the interfering parts on the lifting and moving model according to the interference part display instructions received from the central processing module.

[0009] Preferably, the terminal display module highlights the parts of the lifting and moving model where interference exists, and also issues an audible and visual alarm prompt.

[0010] Preferably, the terminal display module is arranged on a crane.

[0011] Preferably, the crane monitoring system comprises a gantry crane monitoring system and a portal crane monitoring system, and both the gantry crane monitoring system and the portal crane monitoring system comprise a plurality of absolute encoders installed at different positions on the crane.

[0012] Preferably, the gantry crane monitoring system includes an absolute value encoder installed on the driving wheels of the gantry crane's trolley rigid and flexible legs, an absolute value encoder on the driving wheels of the upper trolley or the lower trolley, and an absolute value encoder on one end of the lifting wire rope drum of the lifting mechanism;

[0013] The gantry crane monitoring system includes an absolute value encoder installed on any driving wheel of the trolley walking mechanism of the gantry crane, an incremental encoder and a magnetic induction proximity switch installed on the slewing mechanism of the gantry crane, a magnetic block installed on the upper surface of the gantry of the gantry crane corresponding to the position of the magnetic induction proximity switch, an angle sensor installed on the boom of the gantry crane, and an absolute value encoder installed at one end of the lifting wire rope drum of the lifting mechanism of the gantry crane.

[0014] Preferably, when the gantry crane and the portal crane are lifting sections at the same time, the central processing module can also determine whether interference will occur between the gantry crane and the portal crane based on the distance between the lifting movement model of the gantry crane and its lifting sections and the lifting movement model of the portal crane and its lifting sections.

[0015] Preferably, the dock and berth area production management system includes a dock area loading information module and a dock area segmentation information module;

[0016] The dock area loading information module is used to store the layout position and loading information of the ship under construction on the dock slipway, and transmit the layout position and current loading progress of the ship under construction on the dock slipway to the central processing module;

[0017] The dock area segment information module is used to store the external dimension data of all segments required for building a ship, and transmit the external dimension data of the segment currently hoisted by the crane to the central processing module.

[0018] A control method for the system specifically comprises the following steps:

[0019] S1, the crane monitoring system transmits the crane layout position to the central processing module,

[0020] During the process of crane lifting the sections, the crane monitoring system continuously monitors the real-time position of the moving parts on the crane and transmits the detected position data to the central processing module. At the same time, the dock slipway area production management system also synchronously sends the layout position of the ship under construction on the dock slipway, the loading progress of the ship under construction, and the external dimensions of the section currently lifted by the crane to the central processing module;

[0021] S2, the central processing module uses 3D modeling software to construct a model of the ship under construction and a dock slipway model according to the layout position of the ship under construction on the dock slipway and the loading progress of the ship under construction, and constructs a lifting and moving model of the crane and the lifting segment as a whole according to the layout position of the crane and the external dimensions of the current lifting segment of the crane, and dynamically updates the position and posture of the lifting and moving model according to the position data received in real time from the crane monitoring system, determines whether the lifting and moving model and the ship under construction model will interfere with each other according to the distance between the two, and sends an interference position display instruction to the terminal display module according to the judgment result;

[0022] The terminal display module highlights the interfering parts on the lifting and moving model according to the received interference part display instructions.

[0023] The beneficial effects of the present invention are:

[0024] The present invention can display the loading process of the ship under construction in the dock in three dimensions according to the layout position of the ship under construction on the dock slipway, the loading progress of the ship under construction, the external dimensions of the current lifting section of the crane, and the position data of the crane continuously detecting the lifting section during the lifting process. The present invention can also dynamically display the dynamic change of the distance between the three-dimensional model of the crane and the section it lifts and the three-dimensional model of the ship under construction, thereby giving alarm prompts to the crane that may interfere and the parts that may interfere, so as to avoid the collision between the lifting equipment and the ship under construction, and also prevent the lifting section from colliding with related equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of the layout of the dock area.

[0027] Figure 2 It is a block diagram of the principle of the anti-collision system of the lifting equipment and the ship under construction.

[0028] The meanings of the numbers in the figure are:

[0029] 1 is the dock, 2 is the gantry crane, 3 is the portal crane, and 4 is the ship under construction. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0031] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0032] In order to better understand the technical solution of the present invention, the present invention is described in detail below with reference to the accompanying drawings.

[0033] The invention provides an anti-collision system for lifting equipment and a ship under construction, comprising a crane monitoring system, a dock and slipway area production management system, a central processing module, and a terminal display module.

[0034] The crane monitoring system is used to obtain the layout position of the crane, and continuously monitor the real-time position of the moving part on the crane during the process of lifting the segment and transmit the detected position data to the central processing module.

[0035] Specifically, the crane monitoring system includes a gantry crane monitoring system and a portal crane monitoring system, and both the gantry crane monitoring system and the portal crane monitoring system include a plurality of absolute value encoders installed at different positions on the crane.

[0036] Preferably, the gantry crane monitoring system includes an absolute value encoder installed on the driving wheels of the gantry crane's trolley and flexible legs, an absolute value encoder on the driving wheels of the upper trolley or lower trolley, and an absolute value encoder on one end of the lifting wire rope drum of the lifting mechanism. The absolute value encoder installed on the driving wheels of the gantry crane's trolley and flexible legs is used to monitor the position of the gantry crane's trolley, the absolute value encoder installed on any set of driving wheels of the upper trolley and the lower trolley is used to monitor the position of the upper trolley and the lower trolley of the crane, the absolute value encoder installed on one end of the lifting wire rope drum is used to monitor the position of the crane's lifting mechanism, and an absolute value encoder is installed on one end of the lifting wire rope drum of all lifting mechanisms of the gantry crane. During the operation of the gantry crane, each absolute value encoder on the gantry crane will transmit its detected position data to the central processing module in real time, and the central processing module can obtain the lifting route of the gantry crane according to the changes in the position data received at different times.

[0037] The gantry crane monitoring system includes an absolute encoder installed on any one of the driving wheels of the trolley traveling mechanism of the gantry crane, an incremental encoder and a magnetic induction proximity switch installed on the slewing mechanism of the gantry crane, a magnetic block installed on the upper surface of the gantry of the gantry crane and corresponding to the position of the magnetic induction proximity switch, an angle sensor installed on the boom of the gantry crane, and an absolute encoder installed at the end of the lifting motor of the gantry crane. The absolute encoder installed on any one of the driving wheels of the trolley traveling mechanism is used to monitor the position of the gantry crane trolley, the incremental encoder and the magnetic induction proximity switch installed on the slewing mechanism cooperate with the magnetic block installed on the upper surface of the gantry to monitor the rotation position of the gantry crane, the angle sensor installed on the boom is used to detect the amplitude change position of the gantry crane, and the absolute encoder installed at one end of the lifting wire rope drum of the lifting mechanism is used to monitor the position of the lifting mechanism of the gantry crane. During the operation of the gantry crane, the central processing module can analyze the changes in the position data received at different times based on the data transmitted in real time by the gantry crane monitoring system to obtain the lifting route of the gantry crane, the rotation position, luffing position and lifting position of the gantry crane during the lifting process.

[0038] The dock and slipway area production management system is used to send the layout position of the ship under construction on the dock and slipway, the loading progress of the ship under construction, and the external dimensions of the current hoisting section of the crane to the central processing module.

[0039] Specifically, the dock area production management system includes a dock area loading information module and a dock area segmentation information module; the dock area loading information module is used to store information such as the layout position and loading progress of the ship under construction on the dock, and can transmit the layout position and current loading progress of the ship under construction on the dock to the central processing module;

[0040] The dock area segment information module is used to store the external dimension data of all segments required for building a ship, and can transmit the external dimension data of the segment currently hoisted by the crane to the central processing module.

[0041] The central processing module is used to use the three-dimensional modeling software to construct the ship under construction model and the dock slipway model according to the layout position of the ship under construction on the dock slipway and the loading progress of the ship under construction, and to construct the lifting movement model of the crane and the lifting section as a whole according to the layout position of the crane and the external dimensions of the current lifting section of the crane, and dynamically update the position and posture of the lifting movement model according to the position data received in real time from the crane monitoring system, and send an interference position display instruction to the terminal display module when the distance between the lifting movement model and the ship under construction model is less than a set threshold;

[0042] At the same time, during on-site construction, the gantry crane and the portal crane may be constructed at the same time. Therefore, when the gantry crane and the portal crane are lifting sections at the same time, the central processing module can also determine whether there will be interference between the gantry crane and the portal crane based on the distance between the lifting movement model of the gantry crane and its lifting sections and the lifting movement model of the portal crane and its lifting sections.

[0043] The central processing module is arranged in the main engine room, and monitoring equipment can also be added to the main engine room. In this way, when the central processing module uses the 3D modeling software to construct the ship model under construction, the dock slipway model and the dynamically movable lifting mobile model, the 3D model data can be sent to the monitoring equipment, and the 3D model is dynamically displayed on the monitoring equipment to display the dynamic changes in the distance between the 3D models of all lifting equipment in the entire dock area and their respective lifting sections and the ship model under construction in the slipway, so as to uniformly control the interference between cranes in the entire dock area and the interference between each crane and the ship under construction. If interference is likely to occur, sound and light alarm prompts can be given so that the staff can adjust the lifting routes of the cranes that may interfere according to the lifting routes of the cranes in the dock area.

[0044] The terminal display module is used to highlight the parts of the lifting and moving model where interference exists according to the interference part display instruction received from the central processing module. The terminal display module is set on the crane. That is, if the central processing module determines that a certain crane may collide or interfere with the ship under construction in the slipway, it will send the lifting and moving model of the crane and its lifting segments, the three-dimensional model data of the ship model under construction and the real-time change data of the distance between the two to the terminal display module, and display the dynamic change process of the distance between the lifting and moving model and the ship model under construction on the terminal display module, and highlight the parts where interference may occur, and send out sound and light alarm prompts to remind the crane operator to adjust the lifting route.

[0045] The above-mentioned gantry crane monitoring system, portal crane monitoring system, dock and slipway area production management system and the central processing module transmit data via wired or wireless networks, and the central processing module and the terminal display module also transmit data via wired or wireless networks.

[0046] The present invention also provides a control method for the system, which specifically comprises the following steps:

[0047] S1, the crane monitoring system transmits the crane layout position to the central processing module,

[0048] During the process of crane lifting the sections, the crane monitoring system continuously monitors the real-time position of the moving parts on the crane and transmits the detected position data to the central processing module. If the gantry crane and portal crane are lifting different sections at the same time, the gantry crane monitoring system and portal crane monitoring system will transmit their respective detected position data to the central processing module in real time;

[0049] At the same time, the dock slipway area production management system also sends the layout position of the ship under construction on the dock slipway, the loading progress of the ship under construction, and the external dimensions of the current lifting section of the crane to the central processing module synchronously;

[0050] S2, the central processing module uses 3D modeling software to construct a model of the ship under construction and a dock slipway model according to the layout position of the ship under construction on the dock slipway and the loading progress of the ship under construction, and constructs a lifting and moving model of the crane and the lifting segment as a whole according to the layout position of the crane and the external dimensions of the current lifting segment of the crane, and dynamically updates the position and posture of the lifting and moving model according to the position data received in real time from the crane monitoring system, determines whether the lifting and moving model and the ship under construction model will interfere with each other according to the distance between the two, and sends an interference position display instruction to the terminal display module according to the judgment result;

[0051] When the gantry crane and the portal crane are lifting sections at the same time, the central processing module can also judge whether there will be interference between the gantry crane and the portal crane according to the distance between the lifting movement model of the gantry crane and its lifting sections and the lifting movement model of the portal crane and its lifting sections;

[0052] The terminal display module highlights the interfering parts on the lifting movement model according to the received interference part display instruction to remind the crane operator to adjust the lifting route.

[0053] It should be clear that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A collision avoidance system for a lifting device and a ship under construction, characterized in that: Including crane monitoring system, dock and berth area production management system, central processing module, terminal display module, The crane monitoring system is used to obtain the layout position of the crane and continuously monitor the real-time position of the moving part on the crane during the lifting of the segment and transmit the detected position data to the central processing module; The dock and slipway area production management system is used to send the layout position of the ship under construction on the dock and slipway, the loading progress of the ship under construction, and the external dimensions of the current hoisting section of the crane to the central processing module; The central processing module is used to use the three-dimensional modeling software to construct the ship under construction model and the dock slipway model according to the layout position of the ship under construction on the dock slipway and the loading progress of the ship under construction, and to construct the lifting movement model of the crane and the lifting section as a whole according to the layout position of the crane and the external dimensions of the current lifting section of the crane, and dynamically update the position and posture of the lifting movement model according to the position data received in real time from the crane monitoring system, and send an interference position display instruction to the terminal display module when the distance between the lifting movement model and the ship under construction model is less than a set threshold; The terminal display module is used to display the ship model under construction, the dock model and the lifting and moving model with dynamically changing positions, and to highlight the interfering parts on the lifting and moving model according to the interference part display instructions received from the central processing module.

2. The anti-collision system for lifting equipment and a ship under construction according to claim 1 is characterized in that: The terminal display module highlights the interfering parts on the lifting and moving model and also issues an audible and visual alarm prompt.

3. The anti-collision system for a lifting device and a ship under construction according to claim 1 or 2, characterized in that: The terminal display module is arranged on a crane.

4. The anti-collision system for lifting equipment and a ship under construction according to claim 1 is characterized in that: The crane monitoring system comprises a gantry crane monitoring system and a portal crane monitoring system, and both the gantry crane monitoring system and the portal crane monitoring system comprise a plurality of absolute value encoders installed at different positions on the crane.

5. The anti-collision system for lifting equipment and a ship under construction according to claim 4 is characterized in that: The gantry crane monitoring system includes an absolute value encoder installed on the driving wheels of the gantry crane's trolley rigid and flexible legs, an absolute value encoder on the driving wheels of the upper trolley or the lower trolley, and an absolute value encoder at one end of the lifting wire rope drum of the lifting mechanism; The gantry crane monitoring system includes an absolute value encoder installed on any driving wheel of the trolley walking mechanism of the gantry crane, an incremental encoder and a magnetic induction proximity switch installed on the slewing mechanism of the gantry crane, a magnetic block installed on the upper surface of the gantry of the gantry crane corresponding to the position of the magnetic induction proximity switch, an angle sensor installed on the boom of the gantry crane, and an absolute value encoder installed at one end of the lifting wire rope drum of the lifting mechanism of the gantry crane.

6. The anti-collision system for a lifting device and a ship under construction according to claim 4 or 5, characterized in that: When the gantry crane and the portal crane are lifting sections at the same time, the central processing module can also determine whether there will be interference between the gantry crane and the portal crane based on the distance between the lifting movement model of the gantry crane and its lifting sections and the lifting movement model of the portal crane and its lifting sections.

7. The anti-collision system for lifting equipment and a ship under construction according to claim 1, characterized in that: The dock and berth area production management system includes a dock area loading information module and a dock area segmentation information module; The dock area loading information module is used to store the layout position and loading information of the ship under construction on the dock slipway, and transmit the layout position and current loading progress of the ship under construction on the dock slipway to the central processing module; The dock area segment information module is used to store the external dimension data of all segments required for building the ship, and transmit the external dimension data of the segment currently hoisted by the crane to the central processing module.

8. A control method for a system according to any one of claims 1 to 7, characterized in that: The specific steps include: S1, the crane monitoring system transmits the crane layout position to the central processing module, During the process of crane lifting the sections, the crane monitoring system continuously monitors the real-time position of the moving parts on the crane and transmits the detected position data to the central processing module. At the same time, the dock slipway area production management system also synchronously sends the layout position of the ship under construction on the dock slipway, the loading progress of the ship under construction, and the external dimensions of the section currently lifted by the crane to the central processing module; S2, the central processing module uses 3D modeling software to construct a model of the ship under construction and a dock slipway model according to the layout position of the ship under construction on the dock slipway and the loading progress of the ship under construction, and constructs a lifting and moving model of the crane and the lifting segment as a whole according to the layout position of the crane and the external dimensions of the current lifting segment of the crane, and dynamically updates the position and posture of the lifting and moving model according to the position data received in real time from the crane monitoring system, determines whether the lifting and moving model and the ship under construction model will interfere with each other according to the distance between the two, and sends an interference position display instruction to the terminal display module according to the judgment result; The terminal display module highlights the interfering parts on the lifting and moving model according to the received interference part display instructions.

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