CN101789197A - Simulative training platform of excavator - Google Patents
Simulative training platform of excavator Download PDFInfo
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- CN101789197A CN101789197A CN 201010123283 CN201010123283A CN101789197A CN 101789197 A CN101789197 A CN 101789197A CN 201010123283 CN201010123283 CN 201010123283 CN 201010123283 A CN201010123283 A CN 201010123283A CN 101789197 A CN101789197 A CN 101789197A
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- excavator
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- pilothouse
- driving cab
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Abstract
The invention discloses a simulative training platform of an excavator. In the simulative training platform, a software platform is connected with a driving cab by a USB line; a display output platform is connected with the software platform by a video signal line and independently arranged on the front part of the driving cab or fixedly arranged on a driving cab bottom plate of the driving cab, and the display output platform is a single-screen displayer, three-screen displayer or 3-folding circular screen system; a stance platform is an electric 6-DOF motion platform, connected with the software platform by a netting twine, and in rigid connection with the driving cab by a base of the stance platform; the driving cab used in the simulative training platform is a real driving cab, properly modified, of the excavator, so that the simulative training platform has the same operating system as the real excavator; the display output platform consists of three upright wide-screen displayers, so that the simulative training platform has the same viewing angle as the real excavator; the electric 6-DOF motion platform is used for stance control, so that the simulative training platform offers the same stance feel as the real excavator, and the training efficiency is greatly improved.
Description
Technical field
The invention belongs to the analogue simulation exercise equipment, particularly simulative training platform of excavator.
Technical background
Domestic simulative training platform of excavator seldom, mainly based on training student right-hand man degrees of coordination, easy emulation operating control and single screen computer monitor are only arranged, do not contain attitude control, visual angle, attitude, complex working condition operation etc. are bigger with the actual conditions gap, have following weak point, therefore, can not satisfy the demand of actual training far away.
During excavator operation, right-hand man's degrees of coordination, dynamics are extremely important.The right-hand man is inharmonious, can't normally finish construction operation; Dynamics is inaccurate, then damages mechanisms such as oil cylinder easily, and the influence construction is carried out smoothly.If the control system of simulative training platform is different with prototype, the degrees of coordination that trains, dynamics can't be applied in the prototype operation.
Dig zanjon, up and down during operation such as abrupt slope, revolution, must have the roomy visual angle identical with prototype, otherwise since line-of-sight constraint can't fulfil assignment.
During the operation of excavator prototype, produce situations such as car body rocks, big pitch angle through regular meeting, sometimes the car body job state that almost is in vertically, overturns.If the impression of not identical with prototype attitude just can't be eliminated operator's fear in the heart, the operator can't be accumulated in the operation experience in the complex working condition environment.
When disaster takes place, complex working condition such as speedily carry out rescue work at explosion, landslide, landslide, snowslide, flood, night can take place at any time, if can not simulate the execution conditions identical with prototype, the operator will lack the disposal experience of complex working condition, can bring very big risk to site work.
Summary of the invention
The objective of the invention is to invent a kind of big visual field of high emulation simulative training platform of excavator that can satisfy above-mentioned four conditions simultaneously, for the excavator training provides a kind of high performance simulation training system.
Technical scheme of the present invention is achieved as follows:
The pilothouse that simulative training platform of excavator adopts is the excavator prototype pilothouse through appropriate reconstruction, thereby has guaranteed to have the control system identical with prototype; Adopt three perpendicular widescreen displays of putting to form and show output stage, thereby guaranteed to have the visual angle identical with prototype; (supported by Hooke's hinge by six electronic cylinders, electronic cylinder adopts driven by servomotor, and is connected by Hooke's hinge between the fixed pedestal to adopt electronic six degree of freedom vivid platform.Computer control system is by coordinating the stroke of the electronic cylinder of control, realize the motion of vivid platform six-freedom degree, be three translation motions and three rotational motions in the cartesian coordinate system) carry out attitude control, thus guaranteed to have the attitude impression identical with prototype; Adopt state-of-the-art graphics engine, simulate the real scene under the various conditions, thereby guaranteed to have the construction environment identical with prototype.
Owing to adopt such scheme, this simulative training platform of excavator will be a kind of with high content of technology, simulated training device that training effect is good.But the various operating mode operating environments of the big visual field of high emulation simulative training platform of excavator true reappearance of this kind band six degree of freedom attitude control, help to improve excavator practitioner's the level of training, accumulation operation experience, grasp the method and skill of handling various dangerous operations, significantly improve training effectiveness.
Description of drawings
Fig. 1 is that system of the present invention forms synoptic diagram.
Fig. 2 is an one-piece construction oblique view of the present invention.
Fig. 3 is an one-piece construction side view of the present invention.
Below in conjunction with accompanying drawing the present invention is further described in detail.
Embodiment
Shown in Fig. 1,2,3, simulative training platform of excavator is by pilothouse A, and software platform B shows that output stage C and attitude platform D constitute.Wherein, pilothouse A is by pilothouse base plate 6, pilothouse periphery 5, and seat 4, left hand equipment control lever 12, right hand equipment control lever 3, left lateral is walked control lever 13, and right lateral is walked control lever 1, and compositions such as instrument 2 and safety locking bar 11.Software platform B concentrates on a powerful computer.Show that output stage C has three kinds of schemes, but the order panel type display, three panel type displays or three ring curtain systems.This sentences and adopts three panel type display schemes is example, and it is by display screen 1, display screen 2 16, and display screen 3 15, screen frame 14 and connecting link 17 are formed.Attitude platform D is electronic six degree of freedom vivid platform, and it is by attitude platform lower bottom base 9, servomotor 8, and electronic cylinder 7, attitude platform upper bed-plate 10 and control corresponding system form.
Software platform B is the control center of total system, but all functional units of pilothouse A all can produce corresponding electric signal, form various operating parameters, after a controller processing in the pilothouse A, be delivered to software platform B by the USB2.0 interface, software platform B will finish three things after handling simultaneously, first outputs to suitable video information (excavator operation scenario and action) and shows on the output stage C, the second real-time attitude controlled variable with excavator is delivered to attitude platform D by the TCP/IP interface, attitude platform D adjusts to set attitude with pilothouse A with the shortest time through the control of self, and (attitude herein comprises acceleration and displacement, control principle is as follows: the dynamic kinematic parameter of software platform B input expectation, and as rolling motion.This kinematic parameter is transferred to kinetic control system, and control system is electronic cylinder 7 displacements by the kinematic parameter that inverse kinematic calculates six electronic cylinders 7; Then, control system is according to the Displacement Feedback amount of six electronic cylinder 7 kinematic parameters and six electronic cylinders 7, drive six servomotors 8, realize six electronic cylinder 7 closed loop position control, make six electronic cylinders 7 reach desired displacement, vivid platform has also just reached the desired motion attitude so), the 3rd various state parameters demonstrations with excavator output on the instrument 2, for operator's reference.
The course of work is as follows:
After simulative training platform of excavator is opened, attitude platform D will adjust to meta automatically, show that output stage C shows excavator training subject selection operation interface, by left hand equipment control lever 12 and right hand equipment control lever 3 actions menus, select the suitable training subject to begin to train.The operator is sitting in the virtual excavator of operating in three panel type displays in the pilothouse A and carries out corresponding operation, can experience real operation attitude, working scene and job task.
Claims (4)
1. simulative training platform of excavator, comprise pilothouse (A), software platform (B), show output stage (C) and attitude platform (D), it is characterized in that, software platform (B) is connected by the USB line with pilothouse (A), show that output stage (C) is connected by video signal cable with software platform (B), be placed on the place ahead of pilothouse (A) separately or be fixedly mounted on the pilothouse base plate (6) of pilothouse (A), show that output stage (C) is single panel type display, three panel type displays or three ring curtain systems, attitude platform (D) is electronic six degree of freedom vivid platform, it is connected by netting twine with software platform (B), is rigidly connected by attitude platform upper bed-plate (10) with pilothouse (A).
2. simulative training platform of excavator according to claim 1 is characterized in that, shows that the used display of output stage (C) is that widescreen is vertically placed.
3. simulative training platform of excavator according to claim 1 is characterized in that, software platform (B) is for being equipped with the computer of Control Software.
4. simulative training platform of excavator according to claim 1 is characterized in that, three panel type displays comprise display screen one (0), display screen two (16), and display screen three (15) connects by screen frame (14) between three screens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010123283 CN101789197A (en) | 2010-03-12 | 2010-03-12 | Simulative training platform of excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010123283 CN101789197A (en) | 2010-03-12 | 2010-03-12 | Simulative training platform of excavator |
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| CN101789197A true CN101789197A (en) | 2010-07-28 |
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| CN 201010123283 Pending CN101789197A (en) | 2010-03-12 | 2010-03-12 | Simulative training platform of excavator |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103426357A (en) * | 2013-09-11 | 2013-12-04 | 傅仕伟 | Device for simulation training of large type excavator |
| CN103440795A (en) * | 2013-09-11 | 2013-12-11 | 傅仕伟 | Tower crane simulated training device |
| CN103577683A (en) * | 2012-08-02 | 2014-02-12 | 哈尼施费格尔技术公司 | Depth-related help functions for shovel training simulator |
| CN104778897A (en) * | 2015-04-10 | 2015-07-15 | 北京航空航天大学 | Driving ergonomic experiment device based on 6-DOF (degree-of-freedom) motion simulation platform |
| CN105536268A (en) * | 2015-12-15 | 2016-05-04 | 广州中国科学院先进技术研究所 | Six-degree-of-freedom virtual reality dynamic seat and seat platform |
| CN107123349A (en) * | 2017-06-27 | 2017-09-01 | 刘伟 | A kind of practical teaching aid of application electric technology |
| CN109521796A (en) * | 2018-12-26 | 2019-03-26 | 上海恒润文化集团有限公司 | A kind of six degree of freedom platform control system and recreational vehicle |
| CN111161586A (en) * | 2019-12-30 | 2020-05-15 | 中国人民警察大学 | Rescue vehicle simulation training device and operation method |
| CN115148063A (en) * | 2021-03-31 | 2022-10-04 | 广州中国科学院先进技术研究所 | Virtual excavator system based on unity3D |
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| CN1440341A (en) * | 2000-06-30 | 2003-09-03 | 东海旅客铁道株式会社 | Ride quality simulator for railway |
| CN1491852A (en) * | 2003-09-04 | 2004-04-28 | 上海交通大学 | Ship motion simulator |
| CN200947258Y (en) * | 2006-09-22 | 2007-09-12 | 李宏 | Simulated operation training system for digging machine |
| CN201397588Y (en) * | 2009-05-01 | 2010-02-03 | 徐州翰林科技有限公司 | Excavator operation teaching apparatus |
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Patent Citations (4)
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| CN1440341A (en) * | 2000-06-30 | 2003-09-03 | 东海旅客铁道株式会社 | Ride quality simulator for railway |
| CN1491852A (en) * | 2003-09-04 | 2004-04-28 | 上海交通大学 | Ship motion simulator |
| CN200947258Y (en) * | 2006-09-22 | 2007-09-12 | 李宏 | Simulated operation training system for digging machine |
| CN201397588Y (en) * | 2009-05-01 | 2010-02-03 | 徐州翰林科技有限公司 | Excavator operation teaching apparatus |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103577683A (en) * | 2012-08-02 | 2014-02-12 | 哈尼施费格尔技术公司 | Depth-related help functions for shovel training simulator |
| CN103577683B (en) * | 2012-08-02 | 2018-07-10 | 哈尼施费格尔技术公司 | The depth dependent help function of forklift training simulators |
| CN103426357A (en) * | 2013-09-11 | 2013-12-04 | 傅仕伟 | Device for simulation training of large type excavator |
| CN103440795A (en) * | 2013-09-11 | 2013-12-11 | 傅仕伟 | Tower crane simulated training device |
| CN104778897A (en) * | 2015-04-10 | 2015-07-15 | 北京航空航天大学 | Driving ergonomic experiment device based on 6-DOF (degree-of-freedom) motion simulation platform |
| CN105536268A (en) * | 2015-12-15 | 2016-05-04 | 广州中国科学院先进技术研究所 | Six-degree-of-freedom virtual reality dynamic seat and seat platform |
| CN107123349A (en) * | 2017-06-27 | 2017-09-01 | 刘伟 | A kind of practical teaching aid of application electric technology |
| CN109521796A (en) * | 2018-12-26 | 2019-03-26 | 上海恒润文化集团有限公司 | A kind of six degree of freedom platform control system and recreational vehicle |
| CN111161586A (en) * | 2019-12-30 | 2020-05-15 | 中国人民警察大学 | Rescue vehicle simulation training device and operation method |
| CN115148063A (en) * | 2021-03-31 | 2022-10-04 | 广州中国科学院先进技术研究所 | Virtual excavator system based on unity3D |
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Open date: 20100728 |