Design And Implementation Of Intelligent Lifting Loading And Unloading Control System Based On Digital Twin

With the integration and development of new generation technologies and manufacturing technologies such as the Internet of Things,cloud computing,big data,and artificial intelligence,the production model of the manufacturing industry is accelerating its transformation to digital,networked,and intelligent.Digital twins（DT）technology can effectively solve the problem of information-physical integration of intelligent manufacturing systems,and is an important enabling technology and means to practice the concept of intelligent manufacturing.The most basic requirement to realize intelligent manufacturing is to realize the autonomous operation of production equipment and the automation of logistics transportation.Material handling is an important part of the logistics inside the production workshop,between the workshop and the external market.It has the characteristics of complex scenarios,high technical requirements,high labor intensity,and many risk factors.However,its traditional manual operation mode has high labor costs and high efficiency.Therefore,realizing unmanned and intelligent lifting and loading and unloading operations has become the key for related enterprises to achieve transformation and upgrading and improve their overall competitiveness.The application of digital twin technology can accurately model the environment of the factory floor.Through the physical model,sensor update and other data,the twin mapping of physical entities in the virtual space can be established,and the efficient management of the workshop and the intelligence of operations can be realized in the fusion of virtual and real.Taking the actual project as the platform,this thesis designs and implements an intelligent control system for the handling and loading of bridge cranes based on digital twins.The main research contents are as follows:（1）The overall design of the intelligent lifting and unloading control system.A comprehensive analysis of the two frameworks of the digital twin,the horizontal structure and the vertical structure,combined with the actual functional requirements of the system application,the system is divided into four layers: the physical entity layer,the multi-sensing layer,the modeling analysis and control layer,and the service application layer.The overall design of the system and the construction of the development environment.（2）Multi-sensing design of physical entity information.Aiming at the extraction of cargo information,a visual perception module for disordered target identity information is developed;considering cost and application scenarios,a rotary scanning module based on2 D Li DAR is designed to achieve low-cost and high-precision dynamic detection in key areas of the operation.Point cloud data acquisition;corresponding modules are designed to complete the perception of crane motion parameters and cargo carrier information.（3）The function realization of system modeling analysis and control layer.The first is to establish a geometric model of physical entities in the virtual space,enhance the sense of reality through rendering,and realize visual twinning based on Open GL;design efficient point cloud segmentation and area recognition and division algorithms,complete the dynamic modeling of key areas,and realize obstacle recognition.And the identification,division and planning of the loading area;the planning of the crane’s working path is completed in the blend of virtual and real,and the precise control of the crane based on the position PID and speed PID is realized.（4）Design and system testing of service application layer.Analyzed the data of system operation,completed the design of data model and database form;integrated and integrated system functions,designed and developed the central control management software;completed the design of the system operation process,the overall software performance test and the system trial operation,verification The reliability and integrity of the system functions.