Crane apparatus and anti-collision system for a ship under construction and control method thereof

Abstract

The application discloses a kind of crane equipment and the anti-collision system of ship under construction and its control method, the present application is according to the arrangement position of ship under construction on dock berth, the loading progress of ship under construction, the outline size of crane current hoisting section, and the position data of the uninterrupted detection of crane hoisting section during process, can carry out three-dimensional display to the loading process of ship under construction in dock, and the dynamic change of distance between crane and the three-dimensional model of the section hoisted by it and the three-dimensional model of ship under construction can be dynamically displayed, so as to alarm and prompt the crane that may generate interference and the part that may interfere, to avoid the collision of crane equipment and ship under construction, and also can prevent the collision of hoisting section and related equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of shipbuilding technology, and in particular to a collision prevention system of a hoisting device and a ship under construction and a control method thereof. BACKGROUND

[0002] With the continuous development of global trade, large-scale shipbuilding has become a trend. After the small and medium-sized sections of the ship are built in the indoor manufacturing workshop, they are transported to the dock or berth area for final assembly. The dock and berth are the core resources of the shipbuilding enterprise, and large portal cranes, various gantry cranes and other hoisting devices are arranged in the area. With the acceleration of production rhythm and the continuous change of shipbuilding process, the hoisting device and the ship under construction often interfere with each other, and a safety accident may occur if not careful. SUMMARY

[0003] Therefore, the present application provides a collision prevention system of a hoisting device and a ship under construction and a control method thereof to solve the problems in the background.

[0004] A collision prevention system of a hoisting device and a ship under construction, comprising a crane monitoring system, a dock and berth area production management system, a central processing module, and a terminal display module,

[0005] The crane monitoring system is configured to obtain the arrangement position of the crane, and continuously monitor the real-time position of the moving part of the crane during the lifting and transporting of the section and transmit the detected position data to the central processing module;

[0006] The dock and berth area production management system is configured to send the arrangement position of the ship under construction on the dock and berth, the loading progress of the ship under construction, and the shape size of the current lifting and transporting section of the crane to the central processing module;

[0007] The central processing module is configured to use a three-dimensional modeling software to construct a ship under construction model and a dock and berth model according to the arrangement position of the ship under construction on the dock and berth and the loading progress of the ship under construction, construct a lifting and transporting moving model of the crane and the lifting and transporting section as a whole according to the arrangement position of the crane and the shape size of the current lifting and transporting section, dynamically update the position and posture of the lifting and transporting moving model according to the real-time position data received from the crane monitoring system, and send an interference part display instruction to the terminal display module when the distance between the lifting and transporting moving model and the ship under construction model is less than a set threshold value;

[0008] The terminal display module is configured to display the ship under construction model, the dock and berth model, and the lifting and transporting moving model with dynamically changing position, and highlight the interference part on the lifting and transporting moving model according to the interference part display instruction received from the central processing module.

[0009] Preferably, the terminal display module highlights the parts of the hoisting and moving model that are interfering, while also issuing an audible and visual alarm.

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

[0011] Preferably, the crane monitoring system includes a gantry crane monitoring system and a portal crane monitoring system, both of which include multiple absolute encoders installed at different positions on the crane.

[0012] Preferably, the gantry crane monitoring system includes an absolute encoder installed on the trolley rigid and flexible leg drive wheels of the gantry crane, an absolute encoder on the upper or lower trolley drive wheels, and an absolute encoder at one end of the hoisting wire rope drum of the hoisting mechanism.

[0013] The gantry crane monitoring system includes an absolute encoder installed on any one of the drive wheels of the gantry crane's traveling mechanism, an incremental encoder and a magnetic proximity switch installed on the slewing mechanism of the gantry crane, a magnetic block installed on the upper surface of the gantry crane corresponding to the position of the magnetic proximity switch, an angle sensor installed on the boom of the gantry crane, and an absolute encoder installed at one end of the hoisting wire rope drum of the hoisting mechanism of the gantry crane.

[0014] Preferably, when the gantry crane and the portal crane are lifting sections simultaneously, 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 section and the lifting movement model of the portal crane and its lifting section.

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

[0016] The dock area is equipped with an information module to store the layout and loading information of ships under construction on the dock slipway, and to transmit the layout and current loading progress of the ships under construction on the dock slipway to the central processing module.

[0017] The dock area section information module stores the external dimensions of all sections required for ship construction and transmits the external dimensions of the section currently being lifted by the crane to the central processing module.

[0018] A control method for the system described above specifically includes the following steps:

[0019] S1, the crane monitoring system transmits the crane's location to the central processing module.

[0020] During the process of lifting and transporting the section by the crane, the crane monitoring system continuously monitors the real-time position of the moving part on the crane and transmits the detected position data to the central processing module, and the dock berth area production management system also synchronously sends the arrangement position of the ship under construction on the dock berth, the loading progress of the ship under construction, and the shape size of the section currently lifted and transported by the crane to the central processing module;

[0021] S2, the central processing module constructs the ship under construction model and the dock berth model according to the arrangement position of the ship under construction on the dock berth and the loading progress of the ship under construction, constructs the lifting and transporting moving model of the crane and the section currently lifted and transported as a whole according to the arrangement position of the crane and the shape size of the section currently lifted and transported, dynamically updates the position and posture of the lifting and transporting moving model according to the position data received from the crane monitoring system in real time, judges whether the lifting and transporting moving model and the ship under construction model will interfere with each other according to the distance between the two, and sends the interference part display instruction to the terminal display module according to the judgment result;

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

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

[0024] According to the arrangement position of the ship under construction on the dock berth, the loading progress of the ship under construction, the shape size of the section currently lifted and transported by the crane, and the position data continuously detected during the process of lifting and transporting the section by the crane, the present application can perform three-dimensional display on the loading process of the ship under construction in the dock, and can dynamically display the dynamic change of the distance between the three-dimensional model of the crane and the section currently lifted and transported and the three-dimensional model of the ship under construction, so as to alarm and prompt the crane and the interference part that may interfere with each other, so as to avoid collision between the crane and the ship under construction, and also prevent collision between the section currently lifted and transported and the related equipment. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

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

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

[0028] The meanings of the reference numerals in the drawings are as follows:

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

[0030] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described below in detail with reference to the specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0031] The terms used in the present disclosure are merely for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "an" and "the" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as 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 solutions of the present application, the present application will be described in detail below with reference to the drawings.

[0033] The present application provides a kind of anti-collision system of hoisting equipment and ship under construction, including crane monitoring system, dock berth area production management system, central processing module, terminal display module.

[0034] The crane monitoring system is used to obtain the arrangement position of the crane, and continuously monitor the real-time position of the moving part on the crane during the process of lifting and transporting the section, 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, both of which include a plurality of absolute value encoders installed at different positions on the crane.

[0036] Preferably, the gantry crane monitoring system comprises absolute value encoders installed on the driving wheels of the rigid and flexible legs of the gantry crane, absolute value encoders installed on the driving wheels of the upper trolley or the lower trolley, and absolute value encoders installed on one end of the hoisting wire rope drums of the hoisting mechanism of the gantry crane, the absolute value encoders installed on the driving wheels of the rigid and flexible legs of the gantry crane are used to monitor the position of the gantry crane, the absolute value encoders installed on the driving wheels of the upper trolley or the lower trolley are used to monitor the position of the upper trolley or the lower trolley of the gantry crane, the absolute value encoders installed on one end of the hoisting wire rope drums of the hoisting mechanism of the gantry crane are used to monitor the position of the hoisting mechanism of the gantry crane, and one absolute value encoder is installed on one end of the hoisting wire rope drum of each hoisting mechanism of the gantry crane. During the operation of the gantry crane, each absolute value encoder of the gantry crane transmits the position data detected by the encoder 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 of the position data received at different times.

[0037] The gantry crane monitoring system comprises absolute value encoders installed on any driving wheel of the travelling mechanism of the gantry crane, incremental encoders and magnetic induction proximity switches installed on the slewing mechanism of the gantry crane, magnetic blocks installed on the upper surface of the portal of the gantry crane and corresponding to the positions of the magnetic induction proximity switches, angle sensors installed on the boom of the gantry crane, and absolute value encoders installed on one end of the hoisting wire rope drums of the hoisting mechanism of the gantry crane, the absolute value encoders installed on any driving wheel of the travelling mechanism of the gantry crane are used to monitor the position of the gantry crane, the incremental encoders and the magnetic induction proximity switches installed on the slewing mechanism of the gantry crane are used to monitor the slewing position of the gantry crane in cooperation with the magnetic blocks installed on the upper surface of the portal, the angle sensors installed on the boom of the gantry crane are used to detect the luffing position of the gantry crane, and the absolute value encoders installed on one end of the hoisting wire rope drums of the hoisting mechanism of the gantry crane are used to monitor the position of the hoisting mechanism of the gantry crane. During the operation of the gantry crane, the central processing module can analyze the lifting route of the gantry crane, the slewing position, the luffing position and the hoisting position of the gantry crane during the lifting process of the gantry crane according to the changes of the position data received at different times based on the data transmitted by the gantry crane monitoring system in real time.

[0038] The dock berth area production management system is used to send the arrangement position of the ship under construction on the dock berth, 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.

[0039] Specifically, the dock berth area production management system comprises a dock berth area carrying information module and a dock berth area section information module; the dock berth area carrying information module is used for storing the arrangement position and carrying progress of the ship under construction on the dock berth and transmitting the arrangement position and current carrying progress of the ship under construction on the dock berth to the central processing module;

[0040] The dock berth area section information module is used for storing the shape size data of all sections required for building the ship and transmitting the shape size data of the section currently hoisted by the crane to the central processing module.

[0041] The central processing module is used for constructing the ship under construction model and the dock berth model according to the arrangement position of the ship under construction on the dock berth and the carrying progress of the ship under construction by using the three-dimensional modeling software, constructing the hoisting and moving model of the crane and the hoisted section as a whole according to the arrangement position of the crane and the shape size of the hoisted section, dynamically updating the position and posture of the hoisting and moving model according to the position data received from the crane monitoring system in real time, and sending the interference position display instruction to the terminal display module when the distance between the hoisting and moving model and the ship under construction model is less than the set threshold value.

[0042] Meanwhile, since the gantry crane and the portal crane may be simultaneously constructed during the on-site construction, when the gantry crane and the portal crane simultaneously hoist the section, the central processing module can also judge whether the interference occurs between the gantry crane and the portal crane according to the distance between the hoisting and moving model of the gantry crane and the hoisted section and the hoisting and moving model of the portal crane and the hoisted section.

[0043] The central processing module is arranged in the main computer room, and the monitoring device can also be additionally arranged in the main computer room, so that when the central processing module constructs the ship under construction model, the dock berth model and the dynamically moving hoisting and moving model by using the three-dimensional modeling software, the three-dimensional model data can be transmitted to the monitoring device, the dynamic display of the three-dimensional model is performed on the monitoring device, the dynamic change of the distance between the three-dimensional model of all the crane equipment and the hoisted section and the ship under construction model in the berth is displayed, the interference between the cranes and the interference between each crane and the ship under construction in the whole dock area are uniformly controlled, and if the interference occurs, the audible and visual alarm is prompted so that the workers can adjust the hoisting route of the crane which may cause the interference according to the hoisting route of each crane in the dock area.

[0044] The terminal display module is used for highlighting the interference position on the lifting moving model according to the interference position display instruction received from the central processing module, and the terminal display module is arranged on the crane, that is, if the central processing module judges that the crane may collide with or interfere with the ship under construction in the berth, the central processing module sends the three-dimensional model data of the lifting moving model of the crane and the lifting segment of the crane, the three-dimensional model data of the ship under construction model and the real-time change data of the distance between the two to the terminal display module, displays the dynamic change process of the distance between the lifting moving model and the ship under construction model on the terminal display module, highlights the position that may interfere, and issues an audible and light alarm to remind the crane operator to adjust the lifting route.

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

[0046] The application also provides a control method of the system, which specifically comprises the following steps.

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

[0048] During the lifting of the segment by the crane, the crane monitoring system continuously monitors the real-time position of the moving part of the crane and transmits the detected position data to the central processing module, if the gantry crane and the portal crane simultaneously lift different segments, the gantry crane monitoring system and the portal crane monitoring system will both transmit the position data detected by themselves to the central processing module in real time.

[0049] Meanwhile, the dock berth area production management system also synchronously sends the arrangement position of the ship under construction on the dock berth, the loading progress of the ship under construction and the contour size of the current lifting segment of the crane to the central processing module.

[0050] S2, the central processing module constructs the ship under construction model and the dock berth model according to the arrangement position of the ship under construction on the dock berth and the loading progress of the ship under construction by using the three-dimensional modeling software, constructs the lifting moving model of the crane and the lifting segment as a whole according to the arrangement position of the crane and the contour size of the current lifting segment of the crane, dynamically updates the position and posture of the lifting moving model according to the position data received from the crane monitoring system in real time, judges whether the lifting moving model and the ship under construction model will interfere with each other according to the distance between the two, and sends the interference position display instruction to the terminal display module according to the judgment result.

[0051] When the gantry crane and the portal crane simultaneously hoist the segments, the central processing module can also determine whether the gantry crane and the portal crane will interfere with each other according to the distance between the hoisting movement model of the gantry crane and the hoisting movement model of the portal crane and the segments hoisted by the gantry crane and the portal crane;

[0052] The terminal display module highlights the position on the hoisting movement model where the interference exists according to the received interference position display instruction to remind the crane operator to adjust the hoisting route.

[0053] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

Claims

1. A collision avoidance system for lifting equipment and ships under construction, characterized in that, This includes a crane monitoring system, a dock and slipway area production management system, a central processing module, and a terminal display module. The crane monitoring system is used to obtain the crane's layout position and continuously monitor the real-time position of the moving parts on the crane during the lifting and segmentation process, 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 location of the ships under construction on the dock and slipway, the loading progress of the ships under construction, and the external dimensions of the sections currently being lifted by the crane to the central processing module. The central processing module is used to construct a model of the ship under construction and a model of the dock based on the layout position of the ship under construction on the dock and the loading progress of the ship under construction using 3D modeling software. Based on the layout position of the crane and the external dimensions of the current lifting section of the crane, it constructs a lifting and moving model of the crane and the lifting section as a whole. The module dynamically updates the position and attitude of the lifting and moving model based on the position data received in real time from the crane monitoring system. When the distance between the lifting and moving model and the ship under construction model is less than a set threshold, it sends an interference part display command to the terminal display module. The terminal display module is used to display the ship model under construction, the dock and slipway model, and the hoisting and moving model whose position is dynamically changing. According to the interference part display instruction received from the central processing module, the interference parts on the hoisting and moving model are highlighted.

2. The collision avoidance system between lifting equipment and ship under construction according to claim 1, characterized in that, The terminal display module highlights the parts of the hoisting and moving model that are interfering, and at the same time issues an audible and visual alarm.

3. The collision avoidance system between lifting equipment and ship under construction according to claim 1 or 2, characterized in that, The terminal display module is mounted on the crane.

4. The collision avoidance system between lifting equipment and ship under construction according to claim 1, characterized in that, The crane monitoring system includes a gantry crane monitoring system and a portal crane monitoring system. Both the gantry crane monitoring system and the portal crane monitoring system include multiple absolute encoders installed at different positions on the crane.

5. The collision avoidance system between lifting equipment and ship under construction according to claim 4, characterized in that, The gantry crane monitoring system includes absolute encoders installed on the main trolley rigid and flexible leg drive wheels of the gantry crane, absolute encoders on the upper or lower trolley drive wheels, and an absolute encoder at one end of the hoisting wire rope drum of the hoisting mechanism. The gantry crane monitoring system includes an absolute encoder installed on any one of the drive wheels of the gantry crane's traveling mechanism, an incremental encoder and a magnetic proximity switch installed on the slewing mechanism of the gantry crane, a magnetic block installed on the upper surface of the gantry crane corresponding to the position of the magnetic proximity switch, an angle sensor installed on the boom of the gantry crane, and an absolute encoder installed at one end of the hoisting wire rope drum of the gantry crane's hoisting mechanism.

6. The collision avoidance system between lifting equipment and ship under construction according to claim 4 or 5, characterized in that, When the gantry crane and the portal crane are lifting sections simultaneously, 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 and moving models of the gantry crane and its lifting sections and the portal crane and its lifting sections.

7. The collision avoidance system between lifting equipment and ship under construction according to claim 1, characterized in that, The dock area production management system includes a dock area loading information module and a dock area section information module. The dock area is equipped with an information module to store the layout and loading information of ships under construction on the dock slipway, and to transmit the layout and current loading progress of the ships under construction on the dock slipway to the central processing module. The dock area section information module stores the external dimensions of all sections required for ship construction and transmits the external dimensions of the section currently being lifted by the crane to the central processing module.

8. A control method for the system according to any one of claims 1-7, characterized in that, Specifically, the following steps are included: S1, the crane monitoring system transmits the crane's location to the central processing module. During the process of the crane lifting the section, the crane monitoring system continuously monitors the real-time position of the moving part on the crane and transmits the detected position data to the central processing module. At the same time, the dock and slipway area production management system also sends 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 section currently being lifted by the crane to the central processing module. S2, the central processing module uses 3D modeling software to construct models of the ships under construction and the dock based on the layout of the ships under construction on the dock and the progress of the ships under construction. Based on the layout of the cranes and the external dimensions of the cranes' current lifting sections, it constructs a lifting and moving model of the cranes and the lifting sections as a whole. Based on the position data received in real time from the crane monitoring system, it dynamically updates the position and attitude of the lifting and moving model. Based on the distance between the lifting and moving model and the ship under construction model, it determines whether there will be interference between the two, and sends an interference part display command to the terminal display module based on the judgment result. The terminal display module highlights the areas of interference on the hoisting and moving model based on the received interference display instructions.

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