Digital Twin Modeling Method for Bulk Cargo Stacks Based on 2D LiDAR

doi:10.16182/j.issn1004731x.joss.24-0461

Abstract

Abstract:

Due to the characteristics of large equipment, harsh working environment and time-varying shape of the material pile in bulk cargo terminal, there are some disadvantages such as low data accuracy and poor stability when building the storage yard model, which affects the unmanned and intelligent operation control. In this paper, we use two-dimensional laser radar combined with equipment mechanism motion to scan material pile point cloud data, present a digital twin modeling method for bulk storage yard, which includes static scene construction of storage yard and real-time modeling of material pile. Prefabricated models are used for the static scenes which do not change the surface shape during the loading and unloading operation of the material pile. For the pile with time-varying surface shape, the three-dimensional data structure and real-time generation strategy of the pile are designed. The hierarchical structure of the pile shape, section and space point is used to cache the data, and the nearest distance section is taken as the policy condition to realize real-time three-dimensional reconstruction of the pile, which meets the requirements of real-time changes of the twin model and fast decision support in the process of automatic operation. Finally, taking a bulk cargo terminal as an example, the digital twin modeling of the bulk cargo yard of the terminal is realized, and the consistency and real-time performance of the system are evaluated, verifying the feasibility of the method described in this paper.

Key words: digital twin, time-varying characteristic, 2D LiDAR, 3D reconstruction, real-time generation strategy

CLC Number:

U653.921

Lu Houjun, Zhu Yifei, Rong Yanping, Zhang Wanghui. Digital Twin Modeling Method for Bulk Cargo Stacks Based on 2D LiDAR[J]. Journal of System Simulation, 2025, 37(9): 2269-2286.

Figures/Tables 29

Fig. 1

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Fig. 7

Fig. 8

Fig. 9

Table 1

Table 2

Modeling parameters of different cargo types

堆场区域	散货种类	l/m	w/m	$θ$ /(°)	h/m
7A	矿石	344	45	35	12
7B	矿石	382	69	35	12
7C	矿石	382	70	38	11
7D	矿石	382	49	38	11
8A	煤炭	275	40	37	10
8B	煤炭	174	40	37	10
9A	煤炭	345	31	37	10
9B	煤炭	365	49	37	10
9C	煤炭	335	35	37	10

Table 2

Fig. 10

Table 3

Fig. 11

Table 4

Table 5

Fig. 12

Table 6

Fig. 13

Fig. 14

Table 7

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Fig. 17

Table 8

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Fig. 21

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参数	数值	参数	数值
大车速度/(m/min)	4～30	h₂/m	10
测量角度范围/(°)	0～180	h₁/m	2
角度分辨率/(°)	0.5	α/(°)	-12～+6
单次扫描周期/ms	26.64	β/(°)	-120～+120

模型类型	模型清单
整体模型	港口整体模型，地形分割(包括堆场、引桥、泊位、绿化区、办公区)
静态模型	行政楼、引桥建筑、变电所
船只模型	10种以上船只模型，舱口需要单独建模，船用起重机
设备	装船机：含装船机主要零件部位卸船机：含卸船机主要零件部位皮带机：廊道、廊道内皮带、皮带驱动、转运站内部设施斗轮机：含斗轮机主要零件部位
堆场	料堆、轨道、防尘网、挡矿墙
其他	路灯、道路、监控摄像头、照明灯、消防栓、绿化带、路牌、指示标志

项目			物理实体	孪生体
建筑	行政楼高度/m		14.4	14.4
建筑	行政楼区域面积/m²		386.1	386.2
船只	船只长度/m		177.6	177.2
	舱口面积/m²		120.5	120.5
	船舶高度/m		13.5	13.5
特定堆区	料堆高度/m		10.7	10.6
	堆区面积/m²		10 695.0	10 693.2
	安歇角/(°)		34.4	33.7
设备	廊道长度/m		337.7	337.5
	廊道高度/m		8.4	8.4
	斗轮机尺寸/m	高度	21.7	21.7
		大臂	30.0	30.0
		斗轮半径	6.7	6.7

方案序号	о₁	о₂	о₃
S1	30	0.4	0.4
S2	31	0.4	0.4
S3	30	0.5	0.5
S4	31	0.5	0.5
S5	30	0.6	0.6
S6	31	0.6	0.6

序号	实际高度	S1方案		S2方案		S3方案		S4方案		S5方案		S6方案
序号	实际高度	高度	误差	高度	误差	高度	误差	高度	误差	高度	误差	高度	误差

1	30	46	-16	40	-10	38	-8	34	-4	35	-5	38	-8
2	90	109	-19	97	-7	96	-6	96	-6	99	-9	76	14
3	0	-11	11	6	-6	-3	3	1	-1	-6	6	12	-12
4	531	510	21	523	8	548	-17	544	-13	548	-17	546	-15
5	912	889	23	926	-14	903	9	921	-9	926	-14	926	-14
6	1 146	1 154	-8	1 158	-12	1 162	-16	1 143	3	1 157	-11	1 153	-7
7	1 186	1 164	22	1 171	15	1 197	-11	1 177	9	1 176	10	1 167	19
8	1 173	1 199	-26	1 162	11	1 163	10	1 183	-10	1 182	-9	1 184	-11
9	1 059	1 066	-7	1 078	-19	1 058	1	1 054	5	1 063	-4	1 064	-5
10	1 169	1 178	-9	1 153	16	1 165	4	1 163	6	1 187	-18	1 173	-4
11	1 084	1 069	15	1 094	-10	1 074	10	1 088	-4	1 064	20	1 095	-11
12	851	864	-13	843	8	843	8	849	2	861	-10	864	-13
13	746	771	-25	763	-17	759	-13	763	-17	734	12	749	-3
14	681	683	-2	668	13	674	7	679	2	693	-12	689	-8
15	26	22	4	21	5	21	5	22	4	19	7	19	7
16	0	13	-13	-3	3	-6	6	0	0	6	-6	-4	4
17	639	657	-18	647	-8	647	-8	643	-4	648	-9	645	-6

18	607	614	-7	631	-24	621	-14	614	-7	621	-14	613	-6
19	1 066	1 056	10	1 078	-12	1 074	-8	1 064	2	1 071	-5	1 074	-8
20	1 095	1 076	19	1 106	-11	1 102	-7	1 102	-7	1 085	10	1 106	-11
21	1 146	1 163	-17	1 152	-6	1 132	14	1 151	-5	1 154	-8	1 152	-6
22	1 184	1 174	10	1 196	-12	1 192	-8	1 189	-5	1 179	5	1 196	-12
23	1 086	1 061	25	1 059	27	1 072	14	1 074	12	1 098	-12	1 089	-3
24	1 083	1 104	-21	1 068	15	1 081	2	1 096	-13	1 074	9	1 074	9
25	961	957	4	977	-16	956	5	959	2	969	-8	951	10
26	143	152	-9	167	-24	139	4	148	-5	158	-15	151	-8
27	39	43	-4	31	8	42	-3	36	3	31	8	46	-7
平均误差		14.0		12.5		8.2		5.9		10.1		8.9