Port machinery complete machine shipping attitude monitoring system and method

Abstract

The invention discloses a harbor machinery complete machine shipping attitude monitoring system comprising a sensor used for collecting acceleration, inclination angle and wind speed data of the center-of-gravity position of a quay crane; the data acquisition unit is used for acquiring and recording data of the sensor; and the navigation bridge calculation unit is used for monitoring the attitude of the quay crane in the shipping process through a data processing algorithm and performing data backup. The invention further discloses a method for monitoring the shipping attitude of the whole harbor machinery. According to the invention, the problem that no monitoring equipment special for whole-machine marine transportation of port machinery equipment exists is solved.

Description

Technical Field

[0001] The present invention relates to port transportation technology, and more specifically, to a port machinery whole machine shipping posture monitoring system and method. Background Art

[0002] At present, there is no mature and widely recognized solution for monitoring the shipping posture of port equipment. Existing posture assessment is mostly based on theoretical calculations, and there is no actual measurement equipment. The measurement methods of motion parameters can be summarized and analyzed into three main types:

[0003] 1) Non-contact motion measurement;

[0004] 2) GPS-based motion measurement;

[0005] 3) Motion measurement based on inertial navigation.

[0006] The non-contact motion measurement system consists of multiple motion capture cameras, and the overlapping field of view forms a three-dimensional space range. Theoretically, if a point in space can be captured by multiple cameras at the same time, the position of the point can be determined. In practical applications, marker balls with reflective or luminous functions need to be attached to the key parts of the experimental body to record motion indicators. After marker balls are attached to multiple key parts, special software calculates the kinematic six-degree-of-freedom parameters. However, this method is affected by the application environment and is mainly suitable for laboratory model research, but not for actual ship deployment.

[0007] The GPS-based motion measurement method is an important technical branch based on the practical application of GPS. It has advantages such as high measurement accuracy, but the measurement volume is large, the cost is high, and it relies on the reliability of GPS automatic devices. GPS can be used to measure ship speed and direction changes to provide a reference for navigation route planning, but it cannot directly measure acceleration in six directions. Other types of sensors and equipment may be required, such as accelerometers, gyroscopes, etc.

[0008] The inertial navigation system has high measurement autonomy and security concealment, and is widely used in military and civilian measurement fields. The motion measurement method of inertial navigation is mainly used to measure the motion angle attitude diagram of large ship carriers. The built-in accelerometer and gyroscope can be used to measure and calculate the position acceleration and motion angle acceleration of a specific carrier, and the position and motion angle of the specific carrier can be obtained through an analytical algorithm. This is also the hardware basis for the implementation of this project. Summary of the invention

[0009] In view of the defects existing in the prior art, the purpose of the present invention is to provide a system and method for monitoring the shipping posture of a complete port machinery, so as to solve the problem that there is no monitoring equipment specifically for the shipping of complete port machinery equipment.

[0010] To achieve the above object, the present invention adopts the following technical solutions:

[0011] A first aspect of the present invention provides a port machinery whole machine shipping posture monitoring system, comprising:

[0012] Sensors to collect data on acceleration, inclination and wind speed at the center of gravity of the quay crane;

[0013] A data acquisition unit, used to acquire and record the data of the sensor;

[0014] The bridge computing unit monitors the posture of the quay crane during shipping through a data processing algorithm and performs data backup.

[0015] Preferably, the sensor includes a three-axis acceleration sensor, a two-axis inclination sensor and an anemometer;

[0016] The three-axis acceleration sensor is provided in plurality and is arranged on the rear beam and the cross beam connecting the rear beam; and / or

[0017] The end of the front beam, the end of the rear beam and the ladder frame at the top;

[0018] The dual-axis tilt sensors are provided in plurality and distributed on the front beam and the rear beam;

[0019] The anemometer is arranged on the top of the ladder frame.

[0020] Preferably, the sensor is connected to the data acquisition unit via wired or wireless means;

[0021] The data acquisition unit is backed up to the bridge computing unit via optical fiber or radio station.

[0022] The second aspect of the present invention provides a method for monitoring the shipping posture of a complete port machinery, using the complete port machinery shipping posture monitoring system provided by the first aspect of the present invention to obtain key dynamic data, and then derive and calculate the acceleration value at the center of gravity;

[0023] The actual calculated acceleration value is similar to the acceleration expression used in the current theoretical calculation, which facilitates effective reference and comparative analysis in the later stage.

[0024] Preferably, when deriving and calculating the acceleration value, a rotation matrix is ​​used to eliminate the pitch angle error θ, the roll angle error φ, and the yaw angle error ψ.

[0025] Preferably, the rotation matrix is ​​as follows:

[0026] On the platform coordinate system where the sensor is installed, after the plane formed by the X and Y axes rotates clockwise around the Z axis by θ degrees, the data g measured by the accelerometer on the Y axis and the data g′ measured on the Y′ axis can be obtained. According to g=g′·cosθ, the error angle of the accelerometer rotating around the Z axis during installation can be obtained.

[0027] Similarly, the error angles φ and ψ of the three-axis acceleration sensor around the X and Y axes are obtained in turn.

[0028] Preferably, when describing the carrier coordinate system, the pitch angle error θ, roll angle error φ, and yaw angle error ψ are obtained by rotating around three axes respectively through the rotation transformation of the inertial coordinate system in space. The transformation relationship between the two coordinate systems is expressed by matrix transformation. The inertial coordinate system is recorded as the E system and the carrier coordinate system is recorded as the B system. The transformation process from the inertial coordinate system to the carrier coordinate system is as follows:

[0029] Initially, the B system and the E system overlap, and the B system is first wound around X e Axis, that is, rotating the roll angle φ around the inertial coordinate system to obtain a new coordinate system B1;

[0030] Rotate coordinate system B1 around Y e The axis, that is, the Y axis of the inertial coordinate system is rotated by a pitch angle θ to obtain a new coordinate system B2;

[0031] Then revolve coordinate system B2 around Z e The axis, that is, the inertial coordinate system Z axis rotates by a yaw angle ψ to obtain a new coordinate system B3. This coordinate system is the actual carrier coordinate system, also called the B system.

[0032] Preferably, the calculation formula of the rotation matrix from the B system to the E system is expressed as follows:

[0033]

[0034] In formula (1), R is the rotation matrix from the carrier coordinate system B to the inertial coordinate system E; x , R y , R z They are the basic rotation matrices for rotation around the X, Y, and Z axes respectively;

[0035] Expanding formula (1) yields formula (2):

[0036]

[0037] Simplifying formula (2) to get formula (3):

[0038]

[0039] The transformation relationship between the carrier coordinate system B and the inertial coordinate system E satisfies the following formula (4):

[0040]

[0041] In formula (4), [X, Y, Z] T is the representation of a point P in the inertial coordinate system E; [xyz] T is the representation of a point P in the carrier coordinate system B, that is Matrices are used to convert between two positions;

[0042] Conversely, the sensor is transformed from the inertial coordinate system E to the carrier coordinate system B using the rotation matrix It means that the calculation formula for converting the inertial coordinate system E to the carrier coordinate system B is obtained by three-axis rotation, and the final matrix equation is as follows:

[0043]

[0044] Therefore, the transformation relationship from the inertial coordinate system E to the carrier coordinate system B satisfies equation (6):

[0045]

[0046] In formula (6), [xyz] T is the representation of a point Q in the carrier coordinate system B; [X, Y, Z] T is the representation of a point Q in the inertial coordinate system E, that is Matrices are used to transform between two positions.

[0047] The present invention provides a port machinery complete machine shipping posture monitoring system and method to solve the problem that there is no monitoring equipment specifically for the sea transportation of complete port machinery equipment. A port machinery complete machine shipping posture monitoring system is developed to provide an efficient, accurate and adaptable monitoring solution. The port machinery complete machine shipping posture monitoring system is based on the sensor technology of the inertial navigation system, combined with the data processing algorithm, and can continuously and accurately monitor the posture of the port machinery during the shipping process. The monitoring data can be sent to the monitoring center in real time, so that the operator can understand the equipment status in time and make corresponding adjustments and processing. In addition, the design of the equipment fully considers the stability and reliability under severe sea conditions to ensure that accurate monitoring data can be provided in various complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the structural framework of the whole-machine shipping posture monitoring system of the port machinery of the present invention;

[0049] Figure 2 Schematic diagram of the arrangement of the three-axis acceleration sensor in the whole-machine shipping posture monitoring system of the port machinery of the present invention, (a) is the main view, (b) is the top view;

[0050] Figure 3 Schematic diagram of the arrangement of the dual-axis horizontal tilt sensor in the whole-machine shipping posture monitoring system of the port machinery of the present invention, (a) is the main view, (b) is the top view;

[0051] Figure 4 Schematic diagram of the arrangement of anemometers in the whole-machine shipping attitude monitoring system of the port machinery of the present invention, (a) is a main view, (b) is a top view;

[0052] Figure 5 It is a schematic diagram of the Z-axis error angle in the method for monitoring the shipping posture of a complete port machinery of the present invention;

[0053] Figure 6 It is a schematic diagram of the process of converting the inertial coordinate system into the actual carrier coordinate system in the method for monitoring the shipping posture of the whole port machinery of the present invention;

[0054] Figure 7 It is the original data waveform diagram in the method for monitoring the shipping posture of the whole port machinery of the present invention;

[0055] Figure 8 It is a data waveform diagram after dilution and screening in the method for monitoring the shipping posture of a complete port machinery of the present invention. DETAILED DESCRIPTION

[0056] In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0057] Combination Figure 1 As shown, the present invention provides a port machinery whole machine shipping posture monitoring system, comprising:

[0058] Sensors (including 7 triaxial acceleration sensors 1, 2 triaxial acceleration sensors 2, and 1 anemometer 3), all sensors are connected to the data acquisition unit 4 through wired (or wireless) means, and the data acquisition unit 4 records the collected data and then backs it up to the console computing unit through optical fiber (or radio station).

[0059] Taking the shore container crane (abbreviated as "shore crane") as an example, the ideal location for the three-axis acceleration sensor 1 is at the center of gravity of the shore crane, which can directly measure the acceleration at the center of gravity. However, since this location is usually located in the hollow part of the structure, there are no suitable layout conditions. If an X-shaped steel structure is added between the diagonal legs and an installation platform is set up at the center of gravity, a series of complex high-altitude operations will be involved, including welding, cutting, installation and subsequent demolition operations. These operations not only require the use of large lifting equipment and aerial platforms to assist in completion, but also have a very high construction difficulty. In addition, such operations also involve high manpower, time and equipment costs.

[0060] Combination Figure 2 As shown in FIG. 1 , in view of the lack of an appropriate structure to install monitoring points in the Z-axis direction, that is, on the vertical axis where the center of gravity is located, this embodiment adopts a strategy of further subdividing one monitoring point into two monitoring points. The two new monitoring points are respectively placed on both sides of the X-axis, specifically, on the rear beam and the crossbeam connecting the rear beam, as shown in FIG. Figure 2 In order to further ensure the accuracy and reliability of the monitoring data, additional monitoring points are added at the ends of the front and rear beams, as well as on the top ladder frame. These additional monitoring points are not only part of the safety redundancy design, but can also be used for comparison and verification during data collection to ensure the accuracy and integrity of the data, such as Figure 2 Monitoring points 5, 6 and 7 are shown in FIG.

[0061] Considering the portability of wiring, the three-axis acceleration sensor 2 is arranged on the front and rear beams. The two three-axis acceleration sensors 2 on the sea and land sides should be located on the same straight line to monitor the roll and pitch angles of the product during the entire voyage. Figure 3 The monitoring points 8 and 9 shown in FIG. The anemometer 3 is arranged on the top of the ladder frame, as shown in FIG. Figure 4 The monitoring point 10 shown in the figure is used to monitor the environmental wind speed.

[0062] The present invention also provides a method for monitoring the shipping posture of a complete port machinery. The system for monitoring the shipping posture of a complete port machinery of the present invention is used to obtain key dynamic data, and then derive and calculate the acceleration value at the center of gravity.

[0063] The actual calculated acceleration value is similar to the acceleration expression used in the current theoretical calculation, which facilitates effective reference and comparative analysis in the later stage.

[0064] When installing the three-axis acceleration sensor 1, a technical problem will inevitably be encountered, that is, there will be a certain angle deviation between the coordinate system (inertial coordinate system) of the three-axis acceleration sensor 1 itself and the coordinate system (carrier coordinate system) of the installation platform. This deviation causes the two coordinate systems to be unable to completely overlap, and this angle deviation is the installation error angle. In practical applications, several different types of installation error angles are usually encountered, such as: pitch angle error (θ), roll angle error (φ), yaw angle error (ψ). The existence of these angular errors is a key factor affecting the authenticity and accuracy of the data. In order to effectively solve this problem, this embodiment introduces a rotation matrix to convert the acceleration data originally in the inertial coordinate system to the carrier coordinate system. In this way, even if there is an installation error angle, the accuracy and reliability of the acceleration data can be ensured, thereby providing more real and accurate data support.

[0065] The rotation matrix used in this embodiment is as follows:

[0066] On the platform coordinate system where the sensor is installed, the plane formed by the X and Y axes rotates θ degrees clockwise around the Z axis. The data g measured by the accelerometer on the Y axis and the data g' measured on the Y' axis are obtained. According to g = g'·cosθ, the error angle of the accelerometer rotating around the Z axis during installation can be obtained, such as Figure 5 shown.

[0067] Similarly, the error angles φ and ψ of the three-axis acceleration sensor 1 around the X and Y axes are obtained in turn.

[0068] When describing the carrier coordinate system, the pitch angle error θ, roll angle error φ, and yaw angle error ψ are obtained by rotating around three axes respectively through the rotation transformation of the inertial coordinate system in space. The transformation relationship between the two coordinate systems is expressed by matrix transformation. The inertial coordinate system is referred to as the E system (Earth) and the carrier coordinate system is referred to as the B system (Body). The transformation process from the inertial coordinate system to the carrier coordinate system is as follows:

[0069] Initially, the B system and the E system overlap, and the B system is first wound around X e Axis, that is, rotating the roll angle φ around the inertial coordinate system to obtain a new coordinate system B1;

[0070] Rotate coordinate system B1 around Y e The axis, that is, the Y axis of the inertial coordinate system is rotated by a pitch angle θ to obtain a new coordinate system B2;

[0071] Then revolve coordinate system B2 around Z e The axis, that is, the inertial coordinate system Z axis rotates by a yaw angle ψ to obtain a new coordinate system B3. This coordinate system is the actual carrier coordinate system, also called the B system.

[0072] The above three rotation processes are the conversion of the sensor inertial coordinate system into the actual carrier coordinate system. Figure 6 shown.

[0073] The calculation formula of the rotation matrix from the B system to the E system is as follows:

[0074]

[0075] In formula (1), R is the rotation matrix from the carrier coordinate system B to the inertial coordinate system E; x , R y , R z They are the basic rotation matrices for rotation around the X, Y, and Z axes respectively;

[0076] Expanding formula (1) yields formula (2):

[0077]

[0078] Simplifying formula (2) to get formula (3):

[0079]

[0080] The transformation relationship between the carrier coordinate system B and the inertial coordinate system E satisfies the following formula (4):

[0081]

[0082] In formula (4), [X, Y, Z] T is the representation of a point P in the inertial coordinate system E; [xyz] T is the representation of a point P in the carrier coordinate system B, that is Matrices are used to convert between two positions;

[0083] Conversely, the sensor is transformed from the inertial coordinate system E to the carrier coordinate system B using the rotation matrix It means that the calculation formula for converting the inertial coordinate system E to the carrier coordinate system B is obtained by three-axis rotation, and the final matrix equation is as follows:

[0084]

[0085] Therefore, the transformation relationship from the inertial coordinate system E to the carrier coordinate system B satisfies equation (6):

[0086]

[0087] In formula (6), [xyz] T is the representation of a point Q in the carrier coordinate system B; [X, Y, Z] Tis the representation of a point Q in the inertial coordinate system E, that is Matrices are used to transform between two positions.

[0088] Through the X, Y, and Z coordinate change equation matrix, the conversion relationship between its actual position, velocity, and acceleration in the inertial coordinate system and the carrier coordinate system can be obtained, thereby solving the problem of installation error angle generated during the installation process.

[0089] After data collection and preliminary processing, data post-processing and fitting are key steps to ensure the accuracy of the final results. This solution builds a quay crane shipping attitude data collection system for this purpose: it adopts a technical framework based on B / S architecture and modular design to provide unified sensor and point distribution solution management. Through data dilution and feature value screening, it supports the comparison, fitting and analysis of multiple sensor data to help achieve accurate attitude analysis, such as Figure 7 and Figure 8 As shown. The collected shipping posture data is deeply analyzed, and the waveform is drawn online through the system to facilitate further posture discussion and optimization decision-making. It provides strong data support and analysis tools for optimizing the shipping lashing plan.

[0090] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A port machinery whole machine shipping posture monitoring system, characterized in that: include: Sensors to collect data on acceleration, inclination and wind speed at the center of gravity of the quay crane; A data acquisition unit, used to acquire and record the data of the sensor; The bridge computing unit monitors the posture of the quay crane during shipping through a data processing algorithm and performs data backup.

2. The port machinery whole machine shipping posture monitoring system according to claim 1 is characterized by: The sensors include a three-axis acceleration sensor, a two-axis inclination sensor and an anemometer; The three-axis acceleration sensor is provided in plurality and is arranged on the rear beam and the cross beam connecting the rear beam; and / or The end of the front beam, the end of the rear beam and the ladder frame at the top; The dual-axis tilt sensors are provided in plurality and distributed on the front beam and the rear beam; The anemometer is arranged on the top of the ladder frame.

3. The port machinery whole machine shipping posture monitoring system according to claim 1 is characterized by: The sensor is connected to the data acquisition unit via wired or wireless means; The data acquisition unit is backed up to the bridge computing unit via optical fiber or radio station.

4. A method for monitoring the shipping posture of a complete port machinery, characterized in that: Using the port machinery whole machine shipping posture monitoring system as described in any one of claims 1 to 3, key dynamic data is obtained, and then the acceleration value at the center of gravity is derived and calculated; The actual calculated acceleration value is similar to the acceleration expression used in the current theoretical calculation, which facilitates effective reference and comparative analysis in the later stage.

5. The method for monitoring the shipping posture of a complete port machinery according to claim 4, characterized in that: When deriving and calculating the acceleration value, the rotation matrix is ​​used to eliminate the pitch angle error θ, the roll angle error φ, and the yaw angle error ψ.

6. The method for monitoring the shipping posture of a complete port machinery according to claim 5, characterized in that: The rotation matrix is ​​as follows: On the platform coordinate system where the sensor is installed, after the plane formed by the X and Y axes rotates clockwise around the Z axis by θ degrees, the data g measured by the accelerometer on the Y axis and the data g′ measured on the Y′ axis can be obtained. According to g=g′·cosθ, the error angle of the accelerometer rotating around the Z axis during installation can be obtained. Similarly, the error angles φ and ψ of the three-axis acceleration sensor around the X and Y axes are obtained in turn.

7. The method for monitoring the shipping posture of a complete port machinery according to claim 6, characterized in that: When describing the carrier coordinate system, the pitch angle error θ, roll angle error φ, and yaw angle error ψ are obtained by rotating around three axes respectively through the rotation transformation of the inertial coordinate system in space. The transformation relationship between the two coordinate systems is expressed by matrix transformation. The inertial coordinate system is recorded as the E system and the carrier coordinate system as the B system. The transformation process from the inertial coordinate system to the carrier coordinate system is as follows: Initially, the B system and the E system overlap, and the B system is first wound around X e Axis, that is, rotating the roll angle φ around the inertial coordinate system to obtain a new coordinate system B1; Rotate coordinate system B1 around Y e The axis, that is, the Y axis of the inertial coordinate system is rotated by a pitch angle θ to obtain a new coordinate system B2; Then revolve coordinate system B2 around Z e The axis, that is, the inertial coordinate system Z axis rotates by a yaw angle ψ to obtain a new coordinate system B3. This coordinate system is the actual carrier coordinate system, also called the B system.

8. The method for monitoring the shipping posture of a complete port machinery according to claim 7, characterized in that: The calculation formula of the rotation matrix from the B system to the E system is as follows: In formula (1), R is the rotation matrix from the carrier coordinate system B to the inertial coordinate system E; x , R y , R z They are the basic rotation matrices for rotation around the X, Y, and Z axes respectively; Expanding formula (1) yields formula (2): Simplifying formula (2) to get formula (3): The transformation relationship between the carrier coordinate system B and the inertial coordinate system E satisfies the following formula (4): In formula (4), [X, Y, Z] T is the representation of a point P in the inertial coordinate system E; [xyz] T is the representation of a point P in the carrier coordinate system B, that is Matrices are used to convert between two positions; Conversely, the sensor is transformed from the inertial coordinate system E to the carrier coordinate system B using the rotation matrix It means that the calculation formula for converting the inertial coordinate system E to the carrier coordinate system B is obtained by three-axis rotation, and the final matrix equation is as follows: Therefore, the transformation relationship from the inertial coordinate system E to the carrier coordinate system B satisfies equation (6): In formula (6), [xyz] T is the representation of a point Q in the carrier coordinate system B; [X, Y, Z] T is the representation of a point Q in the inertial coordinate system E, that is Matrices are used to transform between two positions.

Images