CN110531703A - The multivariant monitoring method of motion platform and system - Google Patents
The multivariant monitoring method of motion platform and system Download PDFInfo
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- CN110531703A CN110531703A CN201910806832.5A CN201910806832A CN110531703A CN 110531703 A CN110531703 A CN 110531703A CN 201910806832 A CN201910806832 A CN 201910806832A CN 110531703 A CN110531703 A CN 110531703A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4065—Monitoring tool breakage, life or condition
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37616—Use same monitoring tools to monitor tool and workpiece
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Abstract
The present invention provides a kind of multivariant monitoring method of motion platform and system, and the multivariant monitoring method of motion platform includes: to obtain System self-test data, detection device kinetic control system and generates monitoring trigger data accordingly；To monitor trigger data trigger device kinetic control system, to obtain control facility information；Acquisition device action data generates joint arrangement control data to control facility information and device action data；The motion state of data drive control and monitoring device is controlled according to joint arrangement with prefabricated driving device.Using the present invention, solve the problems, such as that the system reliability of the prior art is low and maintenance cost is high.
Description
Technical field
The present invention relates to a kind of motion state control technologies, more particularly, to a kind of six degree of freedom (six degree-of-
Freedom) kinetic control system.
Background technique
Such as railcar is controlled in the prior art and/or manned platform carries out spatial movement to cooperate virtual scene, is used
Family can experience enhancing and/or reality environment by the interaction with various electronic equipments, object, elements and features etc. with
Different modes interaction, to select and/or manipulate the virtual objects in virtual environment.For example, user can by manipulation one or
Multiple external electronic devices, physics movement and/or sound effect control simulation etc. generate desired effect in virtual environment, with therewith
Interaction and the control adjusting such as manned platform and/or driving equipment adapt to virtual environment.Existing spatial movement equipment is six
Freedom degree monitoring control logic processing is upper relatively complicated, and the applicability for not only resulting in equipment and system reduces, and reduces three-dimensional
The reliability and safety of sports equipment.
Therefore, in the prior art how to the specific connection of the control system of three-dimensional motion equipment and method flogic system
Existing defects are designed, there is a problem of that system reliability is low and maintenance cost is high.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of motion platform is multivariant
Monitoring method and system, for solving the technical problem that system reliability existing in the prior art is low and maintenance cost is high.
In order to achieve the above objects and other related objects, the present invention provides the multivariant monitoring method of motion platform and is
System, high-voltage charging device include: obtain System self-test data, accordingly detection device kinetic control system and generate monitoring triggering number
According to；To monitor trigger data trigger device kinetic control system, to obtain control facility information；Acquisition device action data, with
It controls facility information and device action data generates joint arrangement and control data；It is controlled with prefabricated driving device according to joint arrangement
The motion state of data drive control and monitoring device.
In one embodiment of the present invention, the step of monitoring trigger data is generated, comprising: driving sensed data is obtained,
To generate electric cylinder status data；Obtain driving monitoring threshold；Electric cylinder status data and driving monitoring threshold are compared, is sentenced accordingly
It is disconnected whether to complete System self-test；If so, generating System self-test data according to electric cylinder status data；If it is not, then according to electronic
Cylinder status data generates self-test error information；Processing system self-inspection data, to obtain monitoring trigger data.
In one embodiment of the present invention, the step of Triggering Control System, comprising: research and application trigger data, with
To servo distributed data；Processing servo distributed data is component trigger signal；It is more that motion platform is triggered according to component trigger signal
The monitoring system of freedom degree；Control facility information is obtained from server end with the multivariant monitoring system of motion platform.
In one embodiment of the present invention, the step of joint arrangement controls data is generated, comprising: obtain three-dimensional camera lens and walk
To data；Analyzing three-dimensional camera lens moves towards data, accordingly generating means action data；Stage process handling equipment information and device action number
According to for Three dimensions control information；It converts Three dimensions control information and controls data into joint arrangement.
In one embodiment of the present invention, control monitoring device motion state the step of, comprising: conversion joint arrangement control
Data processed are servo-control signal；Axis servomotor bus data is obtained, extracts the servo level signal in servo-control signal accordingly；
Pass through default connection transmission servo level signal to prefabricated driving device；Prefabricated driving device is adjusted according to servo level signal and is transported
Row state.
In one embodiment of the present invention, a kind of monitoring system of motion platform six degree of freedom, comprising: hardware check list
Member detection device kinetic control system and generates monitoring trigger data accordingly to obtain System self-test data；Trigger signal list
Member, for monitor trigger data trigger device kinetic control system, to obtain control facility information, trigger signal unit and hard
The connection of part detection unit；Vehicular control unit, to acquisition device action data, to control facility information and device action data
It generates joint arrangement and controls data, vehicular control unit is connect with trigger signal unit；Servo-driver, for prefabricated driving
Device controls the motion state of data drive control and monitoring device, servo-driver and vehicular control unit according to joint arrangement
Connection.
In one embodiment of the present invention, hardware check unit, comprising: electric cylinder sensory package, to obtain driving
Sensed data, to generate electric cylinder status data；Bus processing component, to obtain driving monitoring threshold, bus processing component
It is connect with electric cylinder sensory package；Sensing detection component is sentenced accordingly to compare electric cylinder status data and driving monitoring threshold
Disconnected whether to complete System self-test, sensing detection component is connect with electric cylinder sensory package, sensing detection component and bus processing group
Part connection；Self-inspection data component, to generate System self-test number according to electric cylinder status data when determining to complete System self-test
According to self-inspection data component is connect with sensing detection component；Alarm assemblies, to determine do not complete System self-test when, according to electricity
Dynamic cylinder status data generates self-test error information, and alarm assemblies are connect with sensing detection component；Formation component is triggered, to handle
System self-test data, to obtain monitoring trigger data, triggering formation component is connect with self-inspection data component.
In one embodiment of the present invention, trigger signal unit, comprising: servo analytic unit is touched to research and application
Data are sent out, to obtain servo distributed data；Servo trigger assembly is component trigger signal to handle servo distributed data, watches
Trigger assembly is taken to connect with servo analytic unit；Trigger assembly is controlled, it is more to trigger motion platform according to component trigger signal
The monitoring system of freedom degree, control trigger assembly are connect with servo trigger assembly；Apparatus assembly, for how free with motion platform
The monitoring system of degree obtains control facility information from server end, and apparatus assembly is connect with control trigger assembly.
In one embodiment of the present invention, vehicular control unit, comprising: three-dimensional micromodule is walked to obtain three-dimensional camera lens
To data；Three-dimensional process component moves towards data to analyzing three-dimensional camera lens, accordingly generating means action data, three-dimensional process group
Part is connect with three-dimensional micromodule；Three-dimensional information component is Three dimensions control letter to stage process handling equipment information and device action data
Breath, three-dimensional information component are connect with three-dimensional process component；Transition components, to convert Three dimensions control information as joint arrangement control
Data, transition components are connect with three-dimensional information component.
In one embodiment of the present invention, servo-driver, comprising: signal conversion component, to convert joint arrangement
Control data are servo-control signal；Level component extracts in servo-control signal accordingly to obtain axis servomotor bus data
Servo level signal, level component connect with signal conversion component；Signal transmission assembly, to be watched by default connection transmission
Level signal is taken to prefabricated driving device, signal transmission assembly is connect with level component；Driving assembly, for prefabricated driving dress
It sets and operating status is adjusted according to servo level signal, driving assembly is connect with signal transmission assembly.
In one embodiment of the present invention, a kind of six-freedom motion device, comprising:
Motion platform；
Joint arrangement group, is set in motion platform；
The monitoring system of motion platform six degree of freedom, comprising:
Hardware check unit detection device kinetic control system and generates monitoring accordingly to obtain System self-test data
Trigger data；
Trigger signal unit, for being believed with obtaining control equipment to monitor trigger data trigger device kinetic control system
Breath trigger signal unit is connect with hardware check unit；
Vehicular control unit is generated and is closed to control facility information and device action data to acquisition device action data
Regulating device controls data, and vehicular control unit is connect with trigger signal unit；
Servo-driver, for controlling data drive control and monitoring device according to joint arrangement with prefabricated driving device
Motion state, servo-driver are connect with vehicular control unit.
Wherein, joint arrangement group is connected with vehicular control unit.
Using the present invention, by vehicular control unit and to the monitoring system and joint arrangement of motion platform six degree of freedom
The optimization of the monitoring control mode of group effectively increases the monitoring system and servo-control system of motion platform six degree of freedom
Total system reliability, while the maintenance cost of six-freedom motion device and servomechanism installation monitoring system is reduced, it improves
The maintenance efficiency of system and equipment；
In addition, by the way that servo-driver will be connected with trigger signal unit and vehicular control unit, it can be for example, by control
Local area network real-time reception bus servosignal processed executes six-freedom motion route, increases the reliability of system；
Also, hardware check unit is connected with vehicular control unit, can real-time monitoring motion platform operating status and letter
Number transmission state enhances the reliability and safety in system operation.
Detailed description of the invention
Fig. 1 is shown as the monitoring method process step schematic diagram of motion platform six degree of freedom of the invention.
Fig. 2 is shown as the detailed process step schematic diagram of step S1 in one embodiment in Fig. 1.
Fig. 3 is shown as the detailed process step schematic diagram of step S2 in one embodiment in Fig. 1.
Fig. 4 is shown as the detailed process step schematic diagram of step S3 in one embodiment in Fig. 1.
Fig. 5 is shown as the detailed process step schematic diagram of step S4 in one embodiment in Fig. 1.
Fig. 6 is shown as the monitoring system unit connection schematic diagram of motion platform six degree of freedom of the invention.
Fig. 7 is shown as the specific component connection schematic diagram of hardware check unit 1 in one embodiment in Fig. 6.
Fig. 8 is shown as the specific component connection schematic diagram of trigger signal unit 2 in one embodiment in Fig. 6.
Fig. 9 is shown as vehicular control unit 3 in Fig. 6 first is that specific component connection schematic diagram in embodiment.
Figure 10 is shown as servo-driver 4 in Fig. 6 first is that specific component connection schematic diagram in embodiment.
Figure 11 is shown as six-freedom motion device connecting component connection schematic diagram of the invention.
Component label instructions
1 hardware check unit
2 trigger signal units
3 vehicular control units
4 servo-drivers
11 electric cylinder sensory packages
12 bus processing components
13 sensing detection components
14 self-inspection data components
15 alarm assemblies
16 triggering formation components
21 servo analytic units
22 servo trigger assemblies
23 control trigger assemblies
24 apparatus assemblies
31 three-dimensional micromodules
32 three-dimensional process components
33 three-dimensional information components
34 transition components
41 signal conversion components
42 level components
43 signal transmission assemblies
44 driving assemblies
10 motion platforms
20 joint arrangement groups
The monitoring system of 30 motion platform six degree of freedoms
Method and step explanation
Fig. 1 S1~S4
Fig. 2 S11~S16
Fig. 3 S21~S24
Fig. 4 S31~S34
Fig. 5 S41~S44
Specific embodiment
Hereinafter, term " multi-degree-of-freedom motion platform " is used herein refer to one and/or multiple multiple degrees of freedoms of generation
Manned equipment is for example: railcar etc., they are typically operated within predetermined inductive track, multi-degree-of-freedom motion platform by
Inside setting servo-drive equipment is to realize movement that space multiple degrees of freedom is respectively orientated.Term " monitoring system " and " control system
System " may be used interchangeably and be used herein refer to for motion platform multifreedom motion device monitoring system, with all
Such as the energy of the monitoring of servo-control system or multi-degree-of-freedom motion platform monitor control system etc, control and functional maintenance system
Power.The embodiment of the present invention for example can be applied to more particularly, but not exclusively answer using the system of servo-electric unit
For using the multi-degree-of-freedom motion platform of alternating-current or direct-current motor (such as brushless AC servo motor).Multifreedom motion
Platform is using one or more either synchronously or asynchronously AC brushless servo motors of such as direct current brushless servo motor etc come to vehicle
Provide electric energy.The motor group is at least partly used to driving multi-degree-of-freedom motion platform movement.Joint arrangement group can also be more
The motion state of the other forms of freedom degree motion platform is for example rotated by default drift angle, simulation sound effect vibration and/or combination thereof
Etc. driving, such as blast analogue audio collaboration vibration, tidal bore analog vibration, cabin fault simulation effect etc. are provided.
The embodiment of the present invention for example can be applied to the system using servo-electric unit, more specifically nonexcludability
Ground, multi-degree-of-freedom motion platform include carrying platform, hollow box and multimedia interactive control system, and example includes tracking track
Vehicle etc..Term " audio frequency control " is used herein refer to generation also referred to as multimedia control, also referred to as multimedia interactive
Or virtual interaction system, wherein audio frequency control uses one of them to cooperate with servomechanism installation monitoring system and/or multiple degrees of freedom
The signal of telecontrol equipment control system.It should be understood that being referred on multiple attached drawings using identical appended drawing reference identical
Component or identical functions component, for preferred embodiment, General Principle and feature described herein various modifications to this
Field technical staff will be apparent.In addition, attached drawing only anticipate to being illustrative and not limiting in the scope of the present invention and
It is not construed as scale.
Please refer to Fig. 1-11.It should be noted that diagram provided in the present embodiment only illustrates this hair in a schematic way
Bright basic conception, only shown in schema then with related component in the present invention rather than component count when according to actual implementation,
Distribution and size are drawn, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its component
Layout and operation state of a control may also be increasingly complex.
Referring to Fig. 1, being shown as the multivariant monitoring method process step schematic diagram of motion platform of the invention, such as scheme
Shown in 1, a kind of multivariant monitoring method of motion platform, comprising:
S1, System self-test data are obtained, detection device kinetic control system and monitoring trigger data is generated accordingly, in this reality
It applies in example, DR (Dark Ride, dark riding) multi-degree-of-freedom motion platform is driven using servo motor, it can with compared with big angle
Acceleration stimulates human body dynamic, can also be accelerated with slope and slope is slowed down so that occupant is comfortable in rotation；
S2, to monitor trigger data trigger device kinetic control system, to obtain control facility information, in the present embodiment
In, the input of system may include the manipulation of electronic equipment for example shown with control vault curtain fluorescent screen and/or middle control host itself
Manipulation and/or the oriented displacement of railcar motion profile and/or effect vibration and/or audio/display state of virtual objects etc..
User can manipulate the one or more hand-hold electronic equipments or controller for being operatively coupled to control host pairing in for example, with
Cause the desired movement of such as railcar and driving equipment in virtual entertainment environment；
S3, acquisition device action data generate joint arrangement control data to control facility information and device action data,
In the present embodiment, manned mobile platform movement and/or vibration orientation are predetermined to be multiple degrees of freedom.Virtual entertainment equipment for example
Such as railcar and driving equipment are set in deep-sea surprise boat DR multifreedom controlling system, and various inhomogeneities can be passed through
The input of type is interacted with virtual objects, the elements and features etc. in virtual entertainment environment, and in one embodiment, Vehicle Controller is logical
It crosses EtherCAT bus and obtains state such as electric current, torque, revolving speed, position of each axis etc.；
S4, the motion state for controlling data drive control and monitoring device according to joint arrangement with prefabricated driving device, In
In the present embodiment, servo motor is connect with axis servomotor bearing tooth engagement, control unit such as integrated microprocessor control servo electricity
Machine drives axis servomotor to rotate predetermined angle, and the mode that can be used in axis servomotor installation REDUNDANCY ENCODER monitors axis servomotor selection angle
Degree, and the angle is transferred to middle control host, in one embodiment, related hardware needed for six degree of freedom may include for example: vehicle-mounted
PLC, servo-driver, servo motor, Hall switch and braking resistor, in one embodiment, vehicle-mounted PLC for example, by
The connection of EtherCAT bus；For example servo-driver, servo motor pass through transmission device such as synchronous belt connection wire rod electric cylinder.
Electric cylinder connects motion platform for example, by cross joint arrangement, thus realize for example up and down, left and right, front and back, about the z axis rotation,
It rotates around Y-axis, rotated around X-axis.
Referring to Fig. 2, the detailed process step schematic diagram of step S1 in one embodiment in Fig. 1 is shown as, such as Fig. 2 institute
Show, generate the step S1 of monitoring trigger data, comprising:
S11, driving sensed data is obtained, to generate electric cylinder status data, in the present embodiment, for servo controller
The signal input of signal characteristic, the manipulation of the input/output interface on servo controller and/or enabled switch and controller and/
Or physics movement of driving equipment itself etc., to provide the input to realize in virtual entertainment environment；
S12, driving monitoring threshold is obtained；
S13, electric cylinder status data and driving monitoring threshold are compared, judges whether to complete System self-test accordingly, in this reality
It applies in example, system needs whether detection axis servomotor group issues alarm signal before completing self-test, and in the present embodiment, vehicle-mounted PLC passes through
EtherCAT (Ether Control Automation Technology, Ethernet auto-control technology) bus connects example
Such as servo-driver, servo motor passes through transmission device such as synchronous belt connection wire rod electric cylinder.Self-test sensor is mounted on example
As being used to detect the magnet ring on lead screw outside cylinder body in steel tank；
S14, if so, according to electric cylinder status data generate System self-test data, in the present embodiment, System self-test number
It is energy data and/or interface initialization data etc. according to that can be axis servomotor group；
S15, if it is not, then according to electric cylinder status data generate self-test error information, in the present embodiment, in System self-test
The error information generated when occurring abnormal can be used for audio signal or sound and light alarm signal etc., alarm audio-frequency amplifier,
Buzzer, alarm lamp and/or LED charactrons etc.；
S16, processing system self-inspection data, to obtain monitoring trigger data.
Referring to Fig. 3, the detailed process step schematic diagram of step S2 in one embodiment in Fig. 1 is shown as, such as Fig. 3 institute
Show, the step S2 of Triggering Control System, including；
S21, research and application trigger data, to obtain servo distributed data；
S22, processing servo distributed data are component trigger signal, and in the present embodiment, DR (ride by Dark Ride, dark
Multiply) 6-dof motion platform, it can be driven by servo motor and complete lifting, traversing, vertical shift, three move along a straight line and yaw,
Pitching, three rotary motions of rolling.The main component of 6-dof motion platform is six servo electric jars, according to optimal wash-off
The spatial attitude of the motion control software control cockpit of filtering algorithm establishment；
S23, the monitoring system that motion platform six degree of freedom is triggered according to component trigger signal, it is in the present embodiment, multiple
Itself of controller and servo-drive drive apparatus such as axis servomotor operating and/or movement, especially in reality environment
In provide sensor group for example, by servo controller and/or bus signal transmission interface and/or route and/or middle control host is defeated
The rotation of the multiple servo controllers and/or servo motor shaft that enter can be resolved to single coordinate system to determine for opposite
In the anticipator of the embodiment of specific virtual objects；
S24, control facility information is obtained from server end with motion platform six-freedom motion control system, in this implementation
In example, control facility information can be stored in the hard disk in middle control host or be obtained by control area net(CAN) network from background server.
Referring to Fig. 4, the detailed process step schematic diagram of step S3 in one embodiment in Fig. 1 is shown as, such as Fig. 4 institute
Show, generate the step S3 of joint arrangement control data, comprising:
S31, obtain three-dimensional camera lens and move towards data, in the present embodiment, three-dimensional camera lens move towards data may include header file and
Operation curve function data etc. is moved towards to generate three-dimensional in conjunction with such as film camera lens for example, by MAYA system in one embodiment
Camera lens moves towards data and for example acts text.Movement text generated in advance is downloaded into for example vehicle-mounted PLC of control device
(Programmable Logical Controller, programmable logic controller (PLC)).File function is read by text by PLC
It is converted into data information required for axis；
S32, analyzing three-dimensional camera lens move towards data, accordingly generating means action data, and in the present embodiment, three-dimensional camera lens is walked
It may include each servo motor trigger signal, axis servomotor group distribution trigger signal etc., 6-dof motion platform activity to data
It is linked in rotating platform, rotating platform uses band bearing bull gear structure, to adjust 6-dof motion platform height；
S33, stage process handling equipment information and device action data are Three dimensions control information, in the present embodiment, rotary flat
Platform is that six degree of freedom yaw maneuver increases a redundant degree of freedom.Rotating platform rotational angle can be according to selection mode data tune
Section, wherein rotary mode data may include deflection mode and/or brake mode and/or reciprocating rotary mode etc., in special need
When wanting, select the servo drive controller of platform that can integrate and/or extend contact device interface circuit connection center steering contact
Device, to extend the schema category of rotary mode data；
S34, Three dimensions control information is converted as joint arrangement control data, in the present embodiment, joint arrangement controls data
It may include the rotation angle of 6-dof motion platform, the deflection angle of motion platform and three coordinate motion curvilinear function data
Deng.
Referring to Fig. 5, the detailed process step schematic diagram of step S4 in one embodiment in Fig. 1 is shown as, such as Fig. 5 institute
Show, control the step S4 of monitoring device motion state, comprising:
S41, joint arrangement control data are converted as servo-control signal, in the present embodiment, servo-control signal and not
The moving scene pattern information such as mode enumerated value of same 6-dof motion platform is with for example one-to-many and/or many-one
And/or one-to-one equal corresponding forms are wanted to correspond to；
S42, axis servomotor bus data is obtained, the servo level signal in servo-control signal is extracted accordingly, in this implementation
In example, when 6-dof motion platform moves to each six-freedom motion final state, final state attitude data can trigger dynamic machine
Mould movement.Under SERVO CONTROL monitoring system control, 6-dof motion platform is interacted with audio control system.Specific six certainly
It is by the platform six degree of freedom control system in vehicle-mounted middle control case by degree motion platform 3 D motion trace and platform deflection angle
Pre-stored three-dimensional motion mode data of uniting is completed, and 6-dof motion platform can be dynamic with multimedia special efficacy or interaction equipment
Make, 6-dof motion platform can change according to scenery acousto-optic on the way to be passed according to the pressure sensor and/or vibration laid on the way
After sensor obtains real time position, the corresponding three-dimensional motion mode data control servo motor in the position and/or plunger pump can be carried out
Axis servomotor and/or hydraulic cylinder is driven to complete rotation and/or six-freedom motion；
S43, pass through default connection transmission servo level signal to prefabricated driving device, in the present embodiment, six degree of freedom
Control system is located on the top of load bearing structure body the eyespot (eye of the user in (such as in cabin, etc.) in use
It point) can be relative to so-called motion platform mass center (motion platform centroid, MPC) in the superfluous of six degree of freedom
Adjustment in remaining range.It can promote movement mark (motion cuing), i.e. by processing MPC and spatial reference point (such as seat
Observe eyespot in cabin) between vertical range reduce it is parasitic accelerate (parasitic acceleration), entire six degree of freedom fortune
The motion state in moving platform and possible cabin or other structures at the top of load bearing structure body can be with multimedia
Feedback data collaboration；
S44, prefabricated driving device adjust operating status according to servo level signal, in the present embodiment, servo level letter
It number can be PWM (Pulse Width Modulation, bandwidth modulation) high-pressure brake driving signal, it is complete in a time granularity
The movement of portion's scene by servo-drive equipment, for example asynchronously or synchronously complete by brushless servo motor driving, executes six degree of freedom data and returns
Zero and axis servomotor group home operation.
Referring to Fig. 6, being shown as the monitoring system unit connection schematic diagram of motion platform six degree of freedom of the invention, such as scheme
Shown in 6, a kind of monitoring system of motion platform six degree of freedom includes hardware check unit 1, trigger signal unit 2, vehicle-mounted control
Unit 3 and servo-driver 4, hardware check unit 1, to obtain System self-test data, detection device motion control system accordingly
It unites and generates monitoring trigger data, in the present embodiment, DR (Dark Ride, dark riding) 6-dof motion platform uses
Servo motor driving, it can it is dynamic with larger angular acceleration stimulation human body, it can also be accelerated with slope and slope is slowed down so that multiplying
Member is comfortable in rotation；Trigger signal unit 2, for monitor trigger data trigger device kinetic control system, to obtain
Control facility information is taken, trigger signal unit 2 is connect with hardware detection unit 1, and in the present embodiment, the input of system can wrap
It includes the manipulation of the electronic equipment for example shown with control vault curtain fluorescent screen and/or the manipulation of middle control host itself and/or railcar is transported
The oriented displacement of dynamic rail mark and/or effect vibration and/or audio/display state of virtual objects etc..User, which can manipulate, to be operated
Ground is coupled to the one or more hand-hold electronic equipments or controller of control host pairing in for example, to draw in virtual entertainment environment
Play the desired movement of such as railcar and driving equipment；Vehicular control unit 3, to acquisition device action data, with control
Facility information and device action data generate joint arrangement and control data, and vehicular control unit 3 is connect with trigger signal unit 2,
In the present embodiment, manned mobile platform movement and/or vibration orientation are predetermined to be six degree of freedom.At virtual entertainment equipment deep-sea
Such as railcar and driving equipment are set in surprise boat DR six degree of freedom control system, and can be by various types of
Input is interacted with virtual objects, the elements and features etc. in virtual entertainment environment, and in one embodiment, Vehicle Controller passes through
EtherCAT bus obtains state such as electric current, torque, revolving speed, position of each axis etc.；Servo-driver 4, for prefabricated
Driving device controls the motion state of data drive control and monitoring device, servo-driver 4 and vehicle-mounted control according to joint arrangement
Unit 3 processed connects, and in the present embodiment, servo motor is connect with axis servomotor bearing tooth engagement, and control unit for example integrates micro- place
It manages device control servo motor driving axis servomotor and rotates predetermined angle, the mode that can be used in axis servomotor installation REDUNDANCY ENCODER monitors
Axis servomotor selected angle, and the angle is transferred to middle control host, in one embodiment, related hardware needed for six degree of freedom can wrap
Include for example: vehicle-mounted PLC, servo-driver, servo motor, Hall switch and braking resistor, in one embodiment, vehicle-mounted PLC are logical
Cross such as EtherCAT bus connection；For example servo-driver, servo motor pass through transmission device such as synchronous belt connection wire rod
Electric cylinder.Electric cylinder connects motion platform for example, by cross joint arrangement, to realize for example up and down, left and right, front and back, around Z
Axis rotation is rotated around Y-axis, is rotated around X-axis.
Referring to Fig. 7, being shown as the specific component connection schematic diagram of hardware check unit 1 in one embodiment in Fig. 6, such as
Shown in Fig. 7, hardware check unit 1 includes electric cylinder sensory package 11, bus processing component 12, sensing detection component 13, self-test
Data package 14, alarm assemblies 15 and triggering formation component 16, electric cylinder sensory package 11, to obtain driving sensed data,
To generate electric cylinder status data, in the present embodiment, signal input, SERVO CONTROL for the signal characteristic of servo controller
The manipulation of input/output interface and/or enabled switch on device and controller and/or the movement of the physics of driving equipment itself etc., with
The input to realize in virtual entertainment environment is provided；Bus processing component 12, to obtain driving monitoring threshold, bus processing
Component 12 is connect with electric cylinder sensory package 11；Sensing detection component 13 is monitored to compare electric cylinder status data and driving
Threshold value judges whether to complete System self-test accordingly, and sensing detection component 13 is connect with electric cylinder sensory package 11, sensing detection group
Part 13 is connect with bus processing component 12, and in the present embodiment, vehicle-mounted PLC connects such as servo-drive by EtherCAT bus
Device, servo motor pass through transmission device such as synchronous belt connection wire rod electric cylinder.Self-test sensor is mounted on outside such as cylinder body
It is used to detect the magnet ring on lead screw in steel tank, in the present embodiment, system needs whether detection axis servomotor group issues before completing self-test
Alarm signal；Self-inspection data component 14, to generate system certainly according to electric cylinder status data when determining to complete System self-test
Data are examined, self-inspection data component 14 is connect with sensing detection component 13；Alarm assemblies 15, to determine not completing System self-test
When, self-test error information is generated according to electric cylinder status data, alarm assemblies 15 are connect with sensing detection component 14, in this implementation
In example, System self-test data can be that energy data and/or interface initialization data etc. are being in the present embodiment for axis servomotor group
The error information that system self-test generates when occurring abnormal can be audio signal or sound and light alarm signal etc., and alarm can be used audio and put
Big device, buzzer, alarm lamp and/or LED charactrons etc.；Formation component 16 is triggered, to processing system self-inspection data,
To obtain monitoring trigger data, triggering formation component 16 is connect with self-inspection data component 14.
Referring to Fig. 8, being shown as the specific component connection schematic diagram of trigger signal unit 2 in one embodiment in Fig. 6, such as
Shown in Fig. 8, trigger signal unit 2 includes servo analytic unit 21, servo trigger assembly 22, control trigger assembly 23 and equipment group
Part 24, servo analytic unit 21, to research and application trigger data, to obtain servo distributed data；Servo trigger assembly 22 is used
To handle servo distributed data as component trigger signal, servo trigger assembly 22 is connect with servo analytic unit 21, in this implementation
In example, DR (Dark Ride, dark riding) 6-dof motion platform can be driven by servo motor and complete lifting, traversing,
Vertical shift, three linear motions and yaw, pitching, three rotary motions of rolling.The main component of 6-dof motion platform is six
Servo electric jar, the spatial attitude of the motion control software control cockpit according to the establishment of optimal washout filter algorithm；Control touching
Send out component 23, to according to component trigger signal trigger motion platform six degree of freedom monitoring system, control trigger assembly 23 with
Servo trigger assembly 22 connects, in the present embodiment, multiple controllers and servo-drive drive apparatus such as axis servomotor from
Body operating and/or movement, for example, by servo controller and/or bus signal transmission interface especially in reality environment
And/or route provides the rotation of the multiple servo controllers and/or servo motor shaft of sensor group and/or middle control host input,
Single coordinate system can be resolved to determine the anticipator for the embodiment relative to specific virtual objects；Apparatus assembly
24, for obtaining control facility information, apparatus assembly 24 and control from server end with the monitoring system of motion platform six degree of freedom
Trigger assembly 23 processed connects, and in the present embodiment, control facility information can be stored in the hard disk in middle control host or pass through control
Local area network is obtained from background server.
Referring to Fig. 9, it is shown as vehicular control unit 3 in Fig. 6 first is that specific component connection schematic diagram in embodiment,
As shown in figure 9, vehicular control unit 3 includes three-dimensional micromodule 31, three-dimensional process component 32, three-dimensional information component 33 and transition components
34, three-dimensional micromodule 31 moves towards data to obtain three-dimensional camera lens, and in the present embodiment, it may include head that three-dimensional camera lens, which moves towards data,
File and operation curve function data etc.；Three-dimensional process component 32 moves towards data to analyzing three-dimensional camera lens, accordingly generating means
Action data, three-dimensional process component 32 are connect with three-dimensional micromodule 31, in one embodiment, are combined for example for example, by MAYA system
Film camera lens, which moves towards to generate three-dimensional camera lens, to be moved towards data and for example acts text.Movement text generated in advance is downloaded into control
For example vehicle-mounted PLC (Programmable Logical Controller, programmable logic controller (PLC)) of device.It is read by PLC
File function converts text to data information required for axis, and in the present embodiment, three-dimensional camera lens moves towards data, it may include each
A servo motor trigger signal, axis servomotor group distribution trigger signal etc., 6-dof motion platform is movably linked to rotating platform,
Rotating platform uses band bearing bull gear structure, to adjust 6-dof motion platform height；Three-dimensional information component 33, to
Stage process handling equipment information and device action data are Three dimensions control information, and three-dimensional information component 33 and three-dimensional process component 32 connect
It connects, in the present embodiment, rotating platform is that six degree of freedom yaw maneuver increases a redundant degree of freedom.Rotating platform rotational angle
It can be adjusted according to selection mode data, wherein rotary mode data may include deflection mode and/or brake mode and/or past
Multiple rotary mode etc., in special requirement, selects the servo drive controller of platform that can integrate and/or extend contact device interface
Circuit connection center steering contacts device, to extend the schema category of rotary mode data；Transition components 34, to convert three-dimensional
Controlling information is that joint arrangement controls data, and transition components 34 are connect with three-dimensional information component 33, in the present embodiment, joint dress
Setting control data may include that the rotation angle of 6-dof motion platform, the deflection angle of motion platform and three coordinate motions are bent
Line function data etc..
Referring to Fig. 10, it is shown as servo-driver 4 in Fig. 6 first is that specific component connection schematic diagram in embodiment,
As shown in Figure 10, servo-driver 4 includes signal conversion component 41, level component 42, signal transmission assembly 43 and driving assembly
44, signal conversion component 41, to convert joint arrangement control data into servo-control signal, in the present embodiment, servo control
Signal processed and the moving scene pattern information of different 6-dof motion platforms such as mode enumerated value with it is for example one-to-many and/
Or many-one and/or one-to-one equal corresponding forms are wanted to correspond to；Level component 42 mentions accordingly to obtain axis servomotor bus data
The servo level signal in servo-control signal is taken, level component 42 is connect with signal conversion component 41, in the present embodiment, when
When 6-dof motion platform moves to each six-freedom motion final state, final state attitude data can trigger the movement of dynamic machine mould.
Under SERVO CONTROL monitoring system control, 6-dof motion platform is interacted with audio control system.Specific six degree of freedom fortune
Moving platform 3 D motion trace and platform deflection angle are preparatory by the platform six degree of freedom control system in vehicle-mounted middle control case
The three-dimensional motion mode data of storage is completed, and 6-dof motion platform can be with multimedia special efficacy or interaction equipment movement, and six certainly
It can be changed according to scenery acousto-optic on the way by degree motion platform and be obtained according to the pressure sensor and/or vibrating sensor laid on the way
After real time position, the corresponding three-dimensional motion mode data control servo motor in the position and/or plunger pump driving servo can be carried out
Axis and/or hydraulic cylinder complete rotation and/or six-freedom motion；Signal transmission assembly 43, to be watched by default connection transmission
Level signal is taken to prefabricated driving device, signal transmission assembly 43 is connect with level component 42, in the present embodiment, level signal
It can be that six degree of freedom control system is located on the top of load bearing structure body (such as in cabin, etc.) in use
The eyespot (eye point) of user can be relative to so-called motion platform mass center (motion platform centroid, MPC)
It is adjusted in the redundancy range of six degree of freedom.It can promote movement mark (motion cuing), i.e. by processing MPC and space
Vertical range between reference point (such as cockpit observation eyespot) reduces parasitic acceleration (parasitic acceleration), whole
The motion state in a 6-dof motion platform and possible cabin or other structures at the top of load bearing structure body
It can be with multimedia feeds data collaborative；Driving assembly 44 is transported for being adjusted with prefabricated driving device according to servo level signal
Row state, driving assembly 44 are connect with signal transmission assembly 43, and in the present embodiment, servo level signal can be PWM (Pulse
Width Modulation, bandwidth modulation) high-pressure brake driving signal, whole scenes movement in a time granularity is by servo
Driving equipment such as asynchronously or synchronously brushless servo motor driving completion, execution six degree of freedom zeroing data and axis servomotor group
Home operation.
Figure 11 is please referred to, six-freedom motion device connecting component connection schematic diagram of the invention is shown as, such as Figure 11 institute
Show, a kind of six-freedom motion device includes the monitoring system of motion platform 10, joint arrangement group 20 and motion platform six degree of freedom
System 30, motion platform 10；Joint arrangement group 20 is set in motion platform 10；The monitoring system 30 of motion platform six degree of freedom,
Include: hardware check unit, to obtain System self-test data, accordingly detection device kinetic control system and generate monitoring triggering
Data；Trigger signal unit, for being touched with obtaining control facility information to monitor trigger data trigger device kinetic control system
Signalling unit is connect with hardware check unit；Vehicular control unit, to acquisition device action data, to control facility information
Joint arrangement is generated with device action data and controls data, and vehicular control unit is connect with trigger signal unit；Servo-driver,
For the motion state of data drive control and monitoring device, servo-driver to be controlled according to joint arrangement with prefabricated driving device
It is connect with vehicular control unit.Wherein, joint arrangement group 20 is connected with vehicular control unit.The mobile platform can be tracking
Mobile platform, its operating path can be laid with the rail of one or more moving track composition, track or more preferably equal on the way
The even multidimensional sensor group for laying one group or multiple groups.The occupant that the structure can have between two parallel planes holds
Carry structural detail.Occupant's bearing structure element can have flat upper plane, and plane user oriented structure, described on this
Structure can also have from the outwardly extending structure in the downside of the flat surfaces, such as to provide additional intensity and to wrap
Equipment containing host and microcontroller itself is controlled in servo.Acceleration transducer and/or angled sensors are laid in route
And occupant's bearing structure element, it can recognize immediately, pass through the motion vector data of occupant's bearing structure element.Six certainly
It can realize that online traveling mechanism movement, the interaction for the multimedia scene that these movements both participate in cooperate with audio by degree mobile platform
The control signal of control system.
For example, motion platform six degree of freedom monitoring system of the invention can be applied to multiple degrees of freedom (such as six freely
Degree) motion platform control system, this multiple degrees of freedom (such as six degree of freedom) motion platform can be applied to special audio-visual or trip
Scene of playing (such as deep-sea surprise boat), specifically, deep-sea surprise boat DR of the invention (Dark Ride, dark riding) motion platform six
Six-freedom motion mode is applied to 6-dof motion platform by the servo monitor control system of the monitoring system of freedom degree
Three dimensional kinematics control.The monitoring system of motion platform six degree of freedom effectively keep deep-sea surprise boat DR (Dark Ride, it is black
Dark riding) six degree of freedom control system system reliability, simplify maintenance process.
It is of the invention) the monitoring system of multiple motion platforms six degree of freedom can be by one or more multi-degree-of-freedom motion platforms
Instant three dimensional kinematics be reported directly to control host in multiple degrees of freedom, while fortune is obtained by integrated multidimensional sensor group
Dynamic sensing data, with audio control system interaction and cooperate with.
It is worth noting that method and system of the invention also can using in other multifreedom motion equipment, not
It is limited to six degree of freedom.
The monitoring system of deep-sea surprise boat DR (Dark Ride, dark riding) motion platform six degree of freedom provided by the invention,
The motion control reliability of six degree of freedom platform and the interactivity of multi-DOF platform and multi-media control system are enhanced, is reduced
Control function unit coupling, optimizes overall system architecture.
In some embodiments, can computer generate motion platform multifreedom motion track data and/
Or motion vector signal, one or more input equipments other than calculating equipment are presented in 3D environment (for example, multidimensional sensing
Device group controls host and audio control system in servo).The input equipment of presentation (for example, multidimensional sensor group, controls master in servo
Machine and audio control system) it can be used for by handling and/or converting multifreedom motion track data and/or motion vector letter
Number for the multimedia object that presents in the simulated environment of deep-sea.Equipment is calculated to be intended to indicate that various forms of digital computers and set
It is standby, including but not limited to laptop computer, desktop computer, work station, personal digital assistant, server, blade server, large size
Machine and other computers appropriate.It calculates equipment and is intended to indicate that various forms of mobile devices, such as personal digital assistant, honeycomb
Phone, smart phone and other similar calculating equipment.Component, their connection and relationship shown here and their function
It can merely mean that and be exemplary, be not intended to limit the embodiment party of description and/or claimed invention in this document
Formula.Many embodiments have been described.It should be appreciated, however, that in the case where not departing from the spirit and scope of this specification, it can
To carry out various modifications.In addition, the logic flow described in figure do not need shown in particular order or sequential order realize the phase
The result of prestige.Furthermore it is possible to provide other steps from described process, or step can be eliminated from described process
Suddenly, and other assemblies can be added to the system or removed from the system.Therefore, other embodiments are in institute
In attached the scope of the claims.Although having shown certain features of described embodiment as described herein, this
Field technical staff.Many modifications, replacement, change and equivalent will be expected now.It should therefore be understood that appended claims
It is intended to cover all such modifications and variations fallen into the range of embodiment.It should be appreciated that only as an example, not a limit
They are presented, and can carry out various changes of form and details.Other than mutual exclusion combination, device described herein
And/or any part of method can be combined with any combination.Embodiment described herein may include described
The various combinations and/or sub-portfolio of the functions of different embodiments, component and/or feature.
Claims (11)
1. a kind of multivariant monitoring method of motion platform characterized by comprising
System self-test data are obtained, detection device kinetic control system and generate monitoring trigger data accordingly；
Described device kinetic control system is triggered with the monitoring trigger data, to obtain control facility information；
Acquisition device action data generates joint arrangement with the control facility information and described device action data and controls number
According to；
Data drive control is controlled according to the joint arrangement with prefabricated driving device and monitors the motion state of motion platform.
2. according to the method described in claim 1, it is characterized by: the step of generation monitors trigger data, comprising:
Driving sensed data is obtained, to generate electric cylinder status data；
Obtain driving monitoring threshold；
The electric cylinder status data and the driving monitoring threshold are compared, judges whether to complete System self-test accordingly；
If so, generating the System self-test data according to the electric cylinder status data；
If it is not, then generating self-test error information according to the electric cylinder status data；
The System self-test data are handled, to obtain the monitoring trigger data.
3. according to the method described in claim 1, it is characterized by: the step of the Triggering Control System, including；
The monitoring trigger data is analyzed, to obtain servo distributed data；
Handling the servo distributed data is component trigger signal；
The multivariant monitoring system of motion platform is triggered according to the component trigger signal；
The control facility information is obtained from server end with the multivariant monitoring system of the motion platform.
4. according to the method described in claim 1, it is characterized by: the step of generation joint arrangement controls data, comprising:
It obtains three-dimensional camera lens and moves towards data；
It analyzes the three-dimensional camera lens and moves towards data, conversion generates described device action data accordingly；
It handles the control facility information and described device action data is Three dimensions control information；
It converts the Three dimensions control information and controls data into the joint arrangement.
5. according to the method described in claim 1, it is characterized by: the step of the control monitoring device motion state, comprising:
The joint arrangement control data are converted as servo-control signal；
Axis servomotor bus data is obtained, extracts the servo level signal in the servo-control signal accordingly；
The servo level signal is transmitted to the prefabricated driving device by default connection；
The prefabricated driving device adjusts the operating status of axis servomotor group according to the servo level signal.
6. a kind of multivariant monitoring system of motion platform characterized by comprising
Hardware check unit, to obtain System self-test data, accordingly detection device kinetic control system and generate monitoring triggering
Data；
Trigger signal unit is set for triggering described device kinetic control system with the monitoring trigger data with obtaining control
Standby information；
Vehicular control unit, it is raw with the control facility information and described device action data to acquisition device action data
Data are controlled at joint arrangement；
Servo-driver is put down for controlling data drive control according to the joint arrangement with prefabricated driving device and monitoring movement
The motion state of platform.
7. system according to claim 6, it is characterised in that: the hardware check unit, comprising:
Electric cylinder sensory package, to obtain driving sensed data, to generate electric cylinder status data；
Bus processing component, to obtain driving monitoring threshold；
Sensing detection component has judged whether accordingly to compare the electric cylinder status data and the driving monitoring threshold
At System self-test；
Self-inspection data component, to generate the system according to the electric cylinder status data when determining to complete System self-test
Self-inspection data；
Alarm assemblies, to generate self-test according to the electric cylinder status data and report an error letter when determining not completing System self-test
Breath；
Formation component is triggered, to handle the System self-test data, to obtain the monitoring trigger data.
8. system according to claim 6, it is characterised in that: the trigger signal unit, including；
Servo analytic unit, to analyze the monitoring trigger data, to obtain servo distributed data；
Servo trigger assembly is component trigger signal to handle the servo distributed data；
Trigger assembly is controlled, to trigger the multivariant monitoring system of motion platform according to the component trigger signal；
Apparatus assembly, for obtaining the control equipment letter from server end with the multivariant monitoring system of the motion platform
Breath.
9. system according to claim 6, it is characterised in that: the vehicular control unit, comprising:
Three-dimensional micromodule moves towards data to obtain three-dimensional camera lens；
Three-dimensional process component moves towards data to analyze the three-dimensional camera lens, generates described device action data accordingly；
Three-dimensional information component, to handle the control facility information and described device action data as Three dimensions control information；
Transition components control data to convert the Three dimensions control information into the joint arrangement.
10. system according to claim 6, it is characterised in that: the servo-driver, comprising:
Signal conversion component, to convert the joint arrangement control data as servo-control signal；
Level component extracts the servo level signal in the servo-control signal to obtain axis servomotor bus data accordingly；
Signal transmission assembly, to transmit the servo level signal to the prefabricated driving device by default connection；
Driving assembly, for adjusting operating status according to the servo level signal with the prefabricated driving device.
11. a kind of six-freedom motion device characterized by comprising
Motion platform；
Joint arrangement group is set in the motion platform；
The monitoring system of motion platform six degree of freedom, comprising:
Hardware check unit, to obtain System self-test data, accordingly detection device kinetic control system and generate monitoring triggering
Data；
Trigger signal unit is set for triggering described device kinetic control system with the monitoring trigger data with obtaining control
Standby information；
Vehicular control unit, it is raw with the control facility information and described device action data to acquisition device action data
Data are controlled at joint arrangement；
Servo-driver, for controlling data drive control and monitoring device according to the joint arrangement with prefabricated driving device
Motion state.
Wherein, the joint arrangement group is connected with the vehicular control unit.
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