CN103093685A - Concrete spraying machine simulation operation system and operation method - Google Patents
Concrete spraying machine simulation operation system and operation method Download PDFInfo
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- CN103093685A CN103093685A CN2013100488896A CN201310048889A CN103093685A CN 103093685 A CN103093685 A CN 103093685A CN 2013100488896 A CN2013100488896 A CN 2013100488896A CN 201310048889 A CN201310048889 A CN 201310048889A CN 103093685 A CN103093685 A CN 103093685A
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Abstract
The invention discloses a concrete spraying machine simulation operation system and an operation method, the system comprises a simulation device (2) and a display device (3), wherein the simulation device (2) comprises a kinematics control module (4) and a graphics module (5), the kinematics control module (4) is used for conducting kinematics control of a concrete spraying machine and the kinematics control of an object in a virtual scene, the graphics module (5) is used for outputting results of kinematics control, the display device (3) is used for displaying the results of the virtual scene and the kinematics control module, the kinematics control module (4) is capable of operating in a manual control mode and an automatic control mode, and the kinematics control module (4) is used for conducting the kinematics control according to operation commands in the manual control mode and conducting the kinematics control according to a preset motion path in the automatic control mode. The concrete spraying machine simulation operation system and the operation method has the advantages of being strong in sense of reality and high in training efficiency.
Description
Technical field
The present invention relates to the analogue simulation training system, particularly a kind of concrete sprayer simulated operating system and method for operating.
Background technology
It is large that concrete sprayer is controlled difficulty, when construction to the operator to control Capability Requirement very high, therefore, training qualified concrete sprayer operator becomes the task of top priority.Traditional training method efficient is low, dangerous high, and along with the development of virtual reality technology and computer graphic image technology, industry begins to adopt the analog simulation training to substitute true training.
Existing concrete sprayer stimulating and training system only adopts single virtual reality software to realize, kinematics characteristic is not enough, and the physical characteristics distortion of object of which movement in scene causes the sense of reality that operates not strong.And existing stimulating and training system only can can't complete reproduction be controlled process according to operator's instruction action when the teaching teaching, efficient is not high.
Summary of the invention
The purpose of this invention is to provide a kind of concrete sprayer simulated operating system and method for operating, the construction effect of reactive spray machine truly, strong sense of reality, and can complete the process of controlling of reappearing, has stronger instructional function, make new tractor driver can be fast, safety, grasp all sidedly the control method of spraying machine, also greatly reduce training cost simultaneously.
to achieve these goals, the invention provides a kind of concrete sprayer simulated operating system, this system comprises analogue means and demonstration device, described analogue means comprises kinematics control module and graphics module, described kinematics control module is controlled for the kinematics of the object of the kinematics control of carrying out spraying machine and virtual scene, described graphics module is used for exporting the result that described kinematics is controlled, described demonstration device is used for the result of described virtual scene and the control of described kinematics is showed, described kinematics control module can be operated in manual control model and automatic control mode, described kinematics control module is used for manually carrying out described kinematics control according to operational order under control model, carrying out described kinematics according to predefined motion path under automatic control mode controls.
The present invention also provides a kind of concrete sprayer simulated operation method, the method comprises: carry out the kinematics control of spraying machine and the kinematics of the object in virtual scene and control, wherein manually carrying out described kinematics control according to operational order under control model, carry out described kinematics according to predefined motion path and control under automatic control mode; Export the result that described kinematics is controlled; And the result of described virtual scene and the control of described kinematics is showed.
Pass through technique scheme, because action and the object in virtual scene to spraying machine have carried out kinematics control, simulation spraying machine when motion can the real simulation jib shake and concrete injection and resilience texts during sprayed construction, the operation strong sense of reality, can give in use the operator feeling of immersion, and owing to having automatic control mode, can carry out kinematics according to predefined motion path controls, can complete reproduction control process when the teaching teaching, improve training efficiency, and can reduce training cost.
Other features and advantages of the present invention will partly be described in detail in embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide a further understanding of the present invention, and consists of the part of instructions, is used from explanation the present invention with following embodiment one, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural representation of concrete sprayer simulated operating system provided by the invention;
Fig. 2 is the process flow diagram of concrete sprayer simulated operation method provided by the invention.
Description of reference numerals
1 input media 2 analogue means
3 demonstration device 4 kinematics control modules
5 graphics module 6 scene management modules
7 path planning module 8 industrial computers
9 telechiric device 11 user management modules
12 motion teaching module 13 skill examination modules
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only is used for description and interpretation the present invention, is not limited to the present invention.
The concrete sprayer stimulating and training system is worked in such a way: gather various parameter setting information and operational order by input media, carry out physics by operation simulation training software and calculate to drive the three-dimensional model action, and by demonstration device, scene and model are showed.
concrete sprayer simulated operating system provided by the invention comprises analogue means 2 and demonstration device 3, described analogue means 2 comprises kinematics control module 4 and graphics module 5, described kinematics control module 4 is controlled for the kinematics of the object of the kinematics control of carrying out spraying machine and virtual scene, described graphics module 5 is used for exporting the result that described kinematics is controlled, described demonstration device 3 is used for the result of described virtual scene and the control of described kinematics is showed, described kinematics control module 4 can be operated in manual control model and automatic control mode, described kinematics control module 4 is used for manually carrying out described kinematics control according to operational order under control model, carrying out described kinematics according to predefined motion path under automatic control mode controls.
As shown in Figure 1, analogue means 2 is used for carrying out kinematic calculation and model-driven according to operator's operational order.Described analogue means 2 comprises kinematics control module 4, and the kinematics that is used for being undertaken by carrying out kinematic calculation spraying machine is controlled and the kinematics of the object of virtual scene is controlled.
It is Changing Pattern by from the position of angle research object the space the evolution in time of how much that the kinematics of object is controlled, to the translation motion of object itself, rotatablely move, the motion features such as angular velocity, angular acceleration are described.According to technical scheme of the present invention, kinematic calculation in the spraying machine simulated operation and kinematics are controlled and all can be utilized kinematic Simulation software to realize, those skilled in the art can develop corresponding kinematic Simulation software based on the actual motion feature of the concrete sprayer of needs simulations, control to realize described kinematic calculation and kinematics.Learn control by action and the object movement in virtual scene to spraying machine, concrete injection and resilience texts when the shake of simulation spraying machine when motion real simulation jib and sprayed construction, the operation strong sense of reality can be given operator's feeling of immersion in use.The result of wherein described kinematics being controlled is showed and is comprised the vibrations of the jib in the jib motion process, accelerates and slow down to show and to concrete injection, resilience in simulation spraying operation process with the reacting force of jib is showed.
According to technical scheme of the present invention, during emulation training, kinematics control module 4 provided by the invention has two kinds of mode of operations: manual control model and automatic control mode, under manual control model, this kinematics control module 4 can be carried out described kinematics according to operational order and be controlled, under automatic control mode, this kinematics control module 4 can be carried out described kinematics according to predefined motion path and be controlled.Can be by system's working procedure be arranged, make this kinematics control module 4 can pass through from the switching between operator's the above-mentioned two kinds of mode of operations of operational order execution, thus, the operator can select perhaps to select to be moved according to predefined motion path by system's automatic control model by the action of telechiric device manual manipulation model.When the teaching teaching, by adopting described automatic control mode, can complete reproduction control process, training efficiency is higher.
Existing concrete sprayer control method is all that the spraying machine jib is carried out the simple joint motion control, because the degree of freedom of spraying machine jib is many, complex structure, the operator carries out jib action and can't accomplish to control simultaneously a plurality of joints (for example more than 3) when controlling and move accurately, causes precision and the efficient of constructing not high.When simulation operation training, necessary control to the interlock of jib multi-joint gives training.
Therefore, according to the solution of the present invention, the manual control model of kinematics control module 4 provided by the invention comprises simple joint motion control pattern and multi-joint interlock control model, and the simple joint motion control and the multi-joint interlock that are respectively used to the spraying machine jib are controlled.
Can be by system's working procedure be arranged, make described manual control model have simple joint motion control pattern and two kinds of control models of multi-joint interlock control model, can be selected above-mentioned two kinds of operator schemes by the operational order of operator's input, the operator controls the jib model by telechiric device, can realize the manual simple joint motion control of jib model and manually multi-joint interlock control, by the multiarticulate of jib model controlled simultaneously, can improve control accuracy thus.
Preferably, described manual control model also comprises a key exhibition receipts arm pattern, be used for before setting in motion is controlled jib is deployed into designated shape by the construction requirement of current working, once jib be recovered to folded state from current location by operational order after the end motion control.
In order to guarantee that the operator is familiar with different construction environments, and can the motion path under automatic control mode be set in advance, under preferable case, described analogue means 2 also comprises scene management module 6 and path planning module 7, described scene management module 6 is used for setting described virtual scene according to the scene parameter setting information, and described path planning module 7 is used for setting described motion path according to the path parameter configuration information.
Particularly, this scene management module 6 is used for completing the arrange work relevant to the scene of constructing, for example to selection, importing and the modification of the scene of constructing, the selection of the weather during scene is used (strong wind for example, establishment, modification and the deletion etc. of the barrier during rainfall, snowfall etc.), and to construction.By this scene management module 6, before simulated operation, can at first input the scene parameter setting information by input media, the scene that needs to use in operation is set in advance.Described path planning module 7 is jib model bases of motion automatically, before simulated operation, can receive the path parameter configuration information of being inputted by input media by this path planning module 7, obstacle information in the combinations of states scene current according to impact point position, the spraying machine set in scene, generate optimum jib motion path, and this path is preserved.In operation, when selecting to enter automatic control mode, the end that kinematics control module 4 is controlled jib according to this predefined motion path advances along this path.
Preferably, simulated operating system provided by the invention also comprises input media 1, is used for gathering described parameter setting information and described operational order.Present simulated operating system all gathers described parameter setting information with controller in kind, and controller capacity in kind is little, and data throughout is little, causes the figure display quality low, and the storage data volume descends, and in system, spendable scene type is also limited.in order to move higher graphics engine, realize playing up of later stage display graphics, input media 1 provided by the invention can comprise PC and telechiric device, adopt PC to carry out the input of parameter setting and operational order, having more powerful data than controller processes and storage capacity, and can move higher graphics engine, also can adopt graphics workstation or other mainframe computers to replace PC, under preferable case, described input media 1 comprises industrial computer 8 and telechiric device 9, be respectively used to gather described parameter setting information and described operational order.Industrial computer 8 has powerful data to be processed and storage capacity, can move higher graphics engine, realizes the setting of polytype virtual scene and operating path.When operation, at first the operator arranges by the series of parameters in industrial computer 8 pairs of systems, after setting is completed, the spraying machine model that uses 9 pairs of demonstration devices of telechiric device 3 to show is controlled, kinematics control module 4 receives the operational order of telechiric device 9, issuable motion in the combined with virtual scene, collision, and the information such as systematic parameter that arrange, call relevant control algolithm and carry out the iterative computation processing, each joint parameter of Renewal model, and the motion and the parameter information that drive 3 pairs of virtual scenes of demonstration device, model are showed.Can control the spraying machine model by described telechiric device 9 and simulate spraying operation, in the jib motion process, according to operational order, jib being carried out kinematics controls, the actions such as the vibrations of true performance jib, acceleration, deceleration, when the simulation spraying operation, concrete injection and resilience effect are simulated.
Under preferable case, in simulated operating system provided by the invention, described analogue means 2 also comprises user management module 11, motion teaching module 12 and skill examination module 13, described user management module 11 is used for carrying out user's registration, logs in and rights management, described motion teaching module 12 is used for storage and reproduces the process that described kinematics is controlled, and described skill examination module 13 is used for carrying out skill examination and the storage result of appraisal.
Particularly, can set up by user management module 11 each user's personal list of information, situation and functipnal capability index trained each time in record.And can classify to system user, for example the user is divided three classes: system owner, system operator and the user of system.The owner of system setting can be had the highest weight limit, the data that can check all operations person of system are changed all configurations of system.System operator has second level authority, can check the user's of system data, revises most configuration parameter, and can check and comment on user's information.System user's authority is minimum, can only use the basic function of simulated operating system, can not revise scene, systematic parameter, can not operate the member, and can only check the information of oneself.Normally, can be arranged so that the user of system has use record and the training scoring of oneself.Can be by set up the user of system database in simulation system, so that user management easily to be provided.System user can contrast the use record before oneself in the process of using, system operator also can be understood the current ability of user at any time by the operating position table of checking the user.
Described motion teaching module 12 is used for preserving the method (motion in jib each joint and the movement locus of arm support tail end etc.) of operator's various manual manipulation jib model sport under manual control model, by control method is selected, the process that file that can reading and saving is controlled with reappearing user.
Described skill examination module 13 can be pre-stored the examination project (for example controlling the path) of spraying machine operation, can transfer the examination project by this skill examination module 13, allow the upper machine of operator to carry out skill examination, and the result of appraisal stored.
The sense of reality that shows in order to strengthen figure, the feeling of immersion when the raising operator uses, preferably, described graphics module 5 also is used for the image that described demonstration device 3 is showed is carried out graph rendering, and described graph rendering utilizes graph rendering software OSG to realize.The OSG graphics engine can be simulated most of weather and special efficacy, and is true to nature to the simulate effect of virtual scene and spraying machine model, can react better real jib performance parameter.
For the result to described virtual scene and kinematics control better shows, described demonstration device 3 comprises LCDs and audio amplifier (not shown), can show in real time spraying machine model sport process (being the kinematic parameter (such as the rotational angle of turntable, the collapsing length of arm support oil cylinder, the rotational angle of forearm etc.) in movement trace of boom, coordinate points and each joint) by LCDs, when spraying operation, can also show from the information such as distance that are subjected to spray plane current pumping equivalent, shower nozzle.Can carry out sounding to the various simulated sounds in operating process (for example concrete eject sound) by audio amplifier, in addition, can also send corresponding voice suggestion before operation when the new tractor driver of training, instruct new tractor driver's operation, and closely may bump and unusual can't the moving of jib attitude need to give a warning in the situation that cross when shower nozzle and metope in operating process, send chimes of doom.
The present invention also provides a kind of concrete sprayer simulated operation method, the method comprises: carry out the kinematics control of spraying machine and the kinematics of the object in virtual scene and control, wherein manually carrying out described kinematics control according to operational order under control model, carry out described kinematics according to predefined motion path and control under automatic control mode; Export the result that described kinematics is controlled; And the result of described virtual scene and the control of described kinematics is showed.It is to complete according to the result of kinematic calculation that described kinematics is controlled, and described kinematic calculation and kinematics are controlled and utilized kinematic Simulation software to realize.
Because action and the object in virtual scene to spraying machine have carried out kinematics control, the operation strong sense of reality, can give operator's feeling of immersion in use when the motion of simulation spraying machine.When the teaching teaching, by adopting described automatic control mode, can complete reproduction control process, training efficiency is higher.
The result of wherein described kinematics being controlled is showed and is comprised the vibrations of the jib in the jib motion process, accelerates and slow down to show and to concrete injection, resilience in simulation spraying operation process with the reacting force of jib is showed.
Preferably, described manual control model comprises simple joint motion control pattern and multi-joint interlock control model, and the simple joint motion control and the multi-joint interlock that are respectively used to the spraying machine jib are controlled.By the multiarticulate of jib model controlled simultaneously, can improve control accuracy.
In order to guarantee that the operator is familiar with different construction environments, and can the motion path under automatic control mode be set in advance, described method also comprises: set described virtual scene according to the scene parameter setting information; And set described motion path according to the path parameter configuration information.
Described method also comprises: gather described parameter setting information and described operational order.Described parameter setting information and described operational order gather respectively from industrial computer 8 and telechiric device 9.Industrial computer 8 has powerful data to be processed and storage capacity, can realize the setting of polytype virtual scene and operating path.Can control the spraying machine model by described telechiric device 9 and simulate spraying operation.
Method provided by the invention also comprises: carry out user's registration, log in and rights management; Store and reproduce the process of described kinematics control; And carry out skill examination and store the result of appraisal.
The sense of reality that shows in order to strengthen figure, the feeling of immersion when the raising operator uses, described method also comprises: the image of showing is carried out graph rendering, and described graph rendering utilizes graph rendering software OSG to realize.
adopt concrete sprayer simulated operating system provided by the invention and method of operating, because action and the object in virtual scene to spraying machine have carried out kinematics control, simulation spraying machine when motion can the real simulation jib shake and concrete injection and resilience texts during sprayed construction, the operation strong sense of reality, can give in use operator's feeling of immersion, and owing to having automatic control mode, can carry out kinematics according to predefined motion path controls, can complete reproduction control process when the teaching teaching, improved training efficiency, and can reduce training cost.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; in technical conceive scope of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove in addition, each concrete technical characterictic described in above-mentioned embodiment in reconcilable situation, can make up by any suitable mode, for fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, also can carry out combination in any between various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (16)
1. concrete sprayer simulated operating system, it is characterized in that, this system comprises analogue means (2) and demonstration device (3), described analogue means (2) comprises kinematics control module (4) and graphics module (5), described kinematics control module (4) is controlled for the kinematics of the object of the kinematics control of carrying out spraying machine and virtual scene, described graphics module (5) is used for exporting the result that described kinematics is controlled, described demonstration device (3) is used for the result of described virtual scene and the control of described kinematics is showed, described kinematics control module (4) can be operated in manual control model and automatic control mode, described kinematics control module (4) is used for manually carrying out described kinematics control according to operational order under control model, carrying out described kinematics according to predefined motion path under automatic control mode controls.
2. system according to claim 1, is characterized in that, it is to complete according to the result of kinematic calculation that described kinematics is controlled, and described kinematic calculation and kinematics are controlled and utilized kinematic Simulation software to realize.
3. system according to claim 1, is characterized in that, described manual control model comprises simple joint motion control pattern and multi-joint interlock control model, and the simple joint motion control and the multi-joint interlock that are respectively used to the spraying machine jib are controlled.
4. system according to claim 1, it is characterized in that, described analogue means (2) also comprises scene management module (6) and path planning module (7), described scene management module (6) is used for setting described virtual scene according to the scene parameter setting information, and described path planning module (7) is used for setting described motion path according to the path parameter configuration information.
5. system according to claim 4, is characterized in that, this system also comprises input media (1), is used for gathering described parameter setting information and described operational order.
6. system according to claim 5, is characterized in that, described input media (1) comprises industrial computer (8) and telechiric device (9), is respectively used to gather described parameter setting information and described operational order.
7. system according to claim 1, it is characterized in that, described analogue means (2) also comprises user management module (11), motion teaching module (12) and skill examination module (13), described user management module (11) is used for carrying out user's registration, logs in and rights management, described motion teaching module (12) is used for storage and reproduces the process that described kinematics is controlled, and described skill examination module (13) is used for carrying out skill examination and the storage result of appraisal.
8. system according to claim 1, it is characterized in that, the result that described kinematics is controlled is showed and is comprised the vibrations of the jib in the jib motion process, accelerates and slow down to show and to concrete injection, resilience in simulation spraying operation process with the reacting force of jib is showed.
9. a concrete sprayer simulated operation method, is characterized in that, the method comprises:
Carrying out the kinematics control of spraying machine and the kinematics of the object in virtual scene controls, wherein manually carrying out described kinematics control according to operational order under control model, carry out described kinematics according to predefined motion path and control under automatic control mode;
Export the result that described kinematics is controlled; And
Result to described virtual scene and the control of described kinematics is showed.
10. method according to claim 9, is characterized in that, it is to complete according to the result of kinematic calculation that described kinematics is controlled, and described kinematic calculation and kinematics are controlled and utilized kinematic Simulation software to realize.
11. method according to claim 9 is characterized in that, described manual control model comprises simple joint motion control pattern and multi-joint interlock control model, and the simple joint motion control and the multi-joint interlock that are respectively used to the spraying machine jib are controlled.
12. method according to claim 9 is characterized in that, described method also comprises:
Set described virtual scene according to the scene parameter setting information; And
Set described motion path according to the path parameter configuration information.
13. method according to claim 12 is characterized in that, the method also comprises: gather described parameter setting information and described operational order.
14. method according to claim 13 is characterized in that, described parameter setting information and described operational order gather respectively from industrial computer (8) and telechiric device (9).
15. method according to claim 9 is characterized in that, the method also comprises:
Carry out user's registration, log in and rights management;
Store and reproduce the process of described kinematics control; And
Carry out skill examination and the storage result of appraisal.
16. method according to claim 9, it is characterized in that, the result that described kinematics is controlled is showed and is comprised the vibrations of the jib in the jib motion process, accelerates and slow down to show and to concrete injection, resilience in simulation spraying operation process with the reacting force of jib is showed.
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| WO2022222239A1 (en) * | 2021-04-19 | 2022-10-27 | 山东建筑大学 | Rocker handle-based remote operation control method for spatial robotic arm |
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