CN101872558A - Driving operation test desk of combine harvester - Google Patents
Driving operation test desk of combine harvester Download PDFInfo
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- CN101872558A CN101872558A CN 201010204494 CN201010204494A CN101872558A CN 101872558 A CN101872558 A CN 101872558A CN 201010204494 CN201010204494 CN 201010204494 CN 201010204494 A CN201010204494 A CN 201010204494A CN 101872558 A CN101872558 A CN 101872558A
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Abstract
The invention relates to a driving operation test desk of a combine harvester, which is characterized in that the driving operation test desk comprises a combine harvester operator cabin, a signal collection unit, a signal processing unit and a virtual reality system, wherein the combine harvester operator cabin comprises a plurality of operator cabin components, a plurality of sensors and a base, the sensors are arranged on each operator cabin component, each sensor is sequentially connected with the signal collection unit, the signal processing unit and the virtual reality system, a virtual combine harvester model and a virtual scene model are arranged in the virtual reality system, the signal collection unit collects sensor signals on each operator cabin component, and outputs the collected sensor signals to the signal processing unit through serial ports, and the signal processing unit transfers the sensor signals after the marking processing to the virtual reality system, so the virtual combine harvester model is driven to do synchronized motion. The invention has high precision and high sensitivity, can truly reproduce the driving operation of the combine harvester for further starting relevant man-machine engineering experiments.
Description
Technical field
The present invention relates to a kind of driving simulator, particularly about a kind of certain model driving operation test desk of combine harvester.
Background technology
Driving simulator is to utilize the virtual reality emulation technology to build a virtual driver training environment, and people are undertaken alternately by the functional unit of driving simulator and virtual environment, thereby carry out driver training.Sensu lato driving simulator comprises automobile driving simulator, aircraft handling simulator and ship-handling simulator or the like.With respect to other driving simulators, automobile driving simulator is most widely used.Automobile driving simulator is called the simulative automobile driving analogue system again, is the correct simulated automotive driver behavior of a kind of energy, obtains the emulator that real vehicle is driven sensation.It has gathered advanced technologies such as virtual reality technology, mechanical transmissioning technology, computer graphics, three-dimensional real-time rendering technology, Computer Interface Technology and data communication technology, can be according to the acceleration of driver input, brake or signal such as turn to calculate the anticipatory behavior of vehicle by mathematical method, and feed back to the driver by video and audio frequency apparatus.By means of driving simulator, can study driver-road (environment) interaction relationship, also can train human pilot.Because have distinguishing features such as safe, that repeatability good, exploitability is strong and cost is low, in recent years, research and development type driving simulator has become an international important development direction.
United reaper is as a class important in the agricultural machinery, plays critical effect for the development of agricultural industry.Since the reform and opening-up, particularly from the nineties in last century, the steady-state growth of Tendency of Agricultural Machinery in China equipment total amount, the agricultural mechanical operation level progressively improves.The great development of Tendency of Agricultural Machinery in Chinaization, especially united reaper has improved farm labor efficiency greatly, has promoted agriculture integrated production capacity, has accelerated traditional agriculture and has changed to modern agriculture.But the design level of the united reaper of China lags far behind abroad.Pilothouse is driver's operation place, in the design of pilothouse, Ergonomics Application, its purpose are exactly to make designed pilothouse can not only satisfy driver's job requirements, and can make that driver's operation is convenient, comfortable, safety, reduce physical fatigue and mental burden.If INTERFACE DESIGN is unreasonable, the driver is in operating process, will be with the mankind intrinsic pliability and adaptability, always make great efforts to make oneself to comply with in the car and arrange, make that to comprise the people good as much as possible in interior total system, thereby make the people produce driving fatigue, decrease in efficiency unconsciously, be easy to produce error in judgement and misoperation, cause traffic hazard.If the people is violent in vibrations for a long time, work under the noise serious environmental, can have a strong impact on people's physiological health.Research and development virtual ergonomic design of agricultural equipment pilothouse and evaluation system, can make the designer of agricultural equipment manufacturing enterprise easily the man-machine interface of agricultural equipment pilothouse be designed and estimate, to improve properties of product, shorten life cycle of the product, reduce production costs, have favorable economic benefit.Driving operation test desk of combine harvester is important mutual test platform as the part of virtual ergonomic design of agricultural equipment pilothouse and evaluation system.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of driving operation test desk of combine harvester that can true reappearance united reaper driving operation.
For achieving the above object, the present invention takes following technical scheme: a kind of driving operation test desk of combine harvester is characterized in that: it comprises a driving cabin of combined-harvester, a signal gathering unit, a signal processing unit and a virtual reality system; Described driving cabin of combined-harvester comprises some pilothouse components, some sensors and a base; Described pilothouse component comprises unloading clutch, main clutch, steering wheel, brake pedal, gas pedal, seat, hand throttle, flame-out backguy, shift handle, electrodeless variable-speed handle, taiwan cut off and landing handle and winder lifting handle, and each described pilothouse component is assemblied on the described base plate according to the layout of each operating element in the driving cabin of combined-harvester man-machine interface; On each described pilothouse component described sensor is installed all, each described sensor connects described signal gathering unit, signal processing unit and virtual reality system successively; Be provided with virtual combining machine model and virtual scene model in the described virtual reality system; Described signal gathering unit is gathered the sensor signal on each described pilothouse component, and output to described signal processing unit by serial ports, the described sensor signal that described signal processing unit will be demarcated after handling is passed to described virtual reality system, is synchronized with the movement thereby drive described virtual combining machine model.
Described pilothouse component also comprises clutch pedal and reserves handle.
Each described pilothouse component is selected right sensors according to the signal type of each operating element output in the driving cabin of combined-harvester man-machine interface: described unloading clutch, main clutch, clutch pedal, flame-out backguy and shift handle adopt microswitch to export their operation signal; Described brake pedal, gas pedal, hand throttle, stepless change handle, taiwan cut off and landing handle and winder lifting handle adopt multiturn potentiometer to export their operation signal; Described steering wheel adopts the higher photoelectric encoder of precision to export its operation signal, and described photoelectric encoder has 360 grids, pulse of an angle output of every rotation; All described sensors all adopt the power supply of 5V power supply, and each described sensor is a parallel circuit.
Adopt gearshift I-shaped plate to come the stroke of the described shift handle of standard, described gearshift I-shaped plate is a sheet metal that offers the I-shaped groove, and described I-shaped groove comprises four gears.
Described brake pedal is connected with the transmission shaft of described clutch pedal by a driving lever, and described transmission shaft two ends are connected with left and right back up pad, and described left and right back up pad is fixed on the described base plate; The swinging end of described driving lever connects a connecting rod, and the axle of the fixedly connected described multiturn potentiometer of described connecting rod, described multiturn potentiometer are fixed on the described right back up pad.
Utilize Unigraphics NX software to carry out accurate modeling earlier headed by the described virtual combining machine model, be converted into by third party software and can be applied to the dummy model that described virtual reality system is carried out true-time operation emulation according to actual combine dimensions; With virtual reality modelling software MultiGen Creator described dummy model is carried out hierarchical structure then and divide, add dof node and kinetic characteristic; In Vega Prime API, the direction of motion and the speed of dof node are controlled at last with respective function.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is on the basis of inner each component of existing certain model associating pilothouse, each pilothouse component is carried out trim designs, be assembled into a cover driving cabin of combined-harvester human-computer interaction interface, and set up related with virtual reality system this pilothouse by sensor, in virtual reality system, realize united reaper driver's actual mechanical process, can driving cabin of combined-harvester man-machine interface that is virtually reality like reality, obtain driver's manipulative behavior, can make the designer of agricultural equipment manufacturing enterprise easily the man-machine interface of driving cabin of combined-harvester be designed and estimate, to improve properties of product, shorten life cycle of the product, reduce production costs, have favorable economic benefit.2, the present invention uses the virtual reality interactive program of Visual C++.net in conjunction with Vega Prime software development, can change model of place at any time, is convenient to the change that different tests requires.3, precision of the present invention and sensitivity are higher, driving operation that can the true reappearance united reaper, and then carry out relevant ergonomics test.
Description of drawings
Fig. 1 is a general structure block diagram of the present invention
Fig. 2 is the hardware layout figure of driving cabin of combined-harvester of the present invention
Fig. 3 is the shift gears structural representation of I-shaped plate of the present invention
Fig. 4 is the scheme of installation of brake pedal of the present invention
Fig. 5 is the schematic flow sheet that the present invention controls combining machine model real time kinematics
Embodiment
Below in conjunction with drawings and Examples to originally being described in detail.
As shown in Figure 1, the present invention includes a driving cabin of combined-harvester 1, a signal gathering unit 2, a signal processing unit 3 and a virtual reality system 4.Driving cabin of combined-harvester 1 comprises some pilothouse components 5, some sensors 6 and a base 7, and each pilothouse component 5 is assemblied on the base 7, and on each pilothouse component 5 sensor 6 is installed all.Each sensor 6 connects signal gathering unit 2, signal processing unit 3 and virtual reality system 4 successively.Be provided with virtual combining machine model 8 and virtual scene model 9 in the virtual reality system 4, each pilothouse component 5 is synchronized with the movement by the virtual combining machine model 8 that sensor 6 drives in the virtual reality system 4, thereby realizes united reaper driver's actual mechanical process in virtual reality system 4.
Describe specific design process of the present invention below in detail:
1) the hardware installation and design of driving operation test desk of combine harvester
1. the hardware overall design of driving cabin of combined-harvester 1
As shown in Figure 2, pilothouse component 5 comprises unloading clutch 10, main clutch 11, clutch pedal 12, steering wheel 13, brake pedal 14, gas pedal 15, seat 16, hand throttle 17, flame-out backguy 18, shift handle 19, electrodeless variable-speed handle 20, taiwan cut off and landing handle 21, winder lifting handle 22 and reserves handle 23, each pilothouse component 5 mainly is fixed on the base plate 7 according to the layout of each operating element in the driving cabin of combined-harvester man-machine interface commonly used in the agricultural production, and the knowledge of utilization ergonomics is improved.Simultaneously, each pilothouse component 5 is selected right sensors 6 according to the signal type of each operating element output: wherein unloading clutch 10, main clutch 11, clutch pedal 12, flame-out backguy 18 and shift handle 19 etc. finally all are parked in a or two fixing position in use, what their were exported is a signal, so adopt microswitch 24 to export their operation signal; And steering wheel 13, brake pedal 14, gas pedal 15, hand throttle 17, stepless change handle 20, taiwan cut off and landing handle 21 and 22 outputs of winder lifting handle is the continually varying amount, so brake pedal 14, gas pedal 15, hand throttle 17, stepless change handle 20, taiwan cut off and landing handle 21 and winder lifting handle 22 use multiturn potentiometers 25 to export their operation signal; Because the semaphore request ratio of precision of steering wheel 13 outputs is higher, so steering wheel 13 selected sensors 6 adopt the higher photoelectric encoder 26 of precision, photoelectric encoder 26 has 360 grids, pulse of an angle output of every rotation.All the sensors 6 all adopts the power supply of 5V power supply, and each sensor 6 is a parallel circuit.
In the foregoing description, because the united reaper of some model is an automatic catch, so it does not comprise clutch pedal 12, and reserves handle 23 as standby functions, and the united reaper of some model does not comprise yet reserves handle 23.
2. drive range is fixing
On united reaper, what shift handle connected is variator, by the locking device in the variator shift handle 19 is fixed on the gear, because the present invention does not have variator, therefore needs the fixedly device of shift handle 19.As shown in Figure 3, the present invention adopts gearshift I-shaped plate 27 to come the stroke of standard shift handle 19, and gearshift I-shaped plate 27 is a sheet metal that offers I-shaped groove 28, and I-shaped groove 28 comprises four gears.
3. the output of brake pedal 14 signals
It is to move up and down that brake pedal 14 is similar to, what export is the continually varying amount, what sensor 6 adopted is multiturn potentiometer 25, what multiturn potentiometer 25 needed collection is angle signal, this just need convert moving up and down of brake pedal 14 to and rotatablely move, so the technical scheme below adopting realizes:
As shown in Figure 4, brake pedal 14 is connected with the transmission shaft 30 of clutch pedal 12 by a driving lever 29, and transmission shaft 30 two ends are connected with left and right back up pad 31,32, and left and right back up pad 31,32 is fixed on the base plate 7.The swinging end of driving lever 29 connects a connecting rod 33, and the axle of connecting rod 33 fixedly connected multiturn potentiometers 25, multiturn potentiometer 25 are fixed on the right back up pad 32.When stepping on brake pedal 14, brake pedal 14 rotates around transmission shaft 30, meanwhile driving lever 29 is also driven around transmission shaft 30 and is rotated, driving lever 29 drivening rods 33 rotate around the axle of multiturn potentiometer 25, because the axle of multiturn potentiometer 25 is fixing with connecting rod 33, do not have and rotate, thereby multiturn potentiometer 25 just there has been angle signal.
2) signals collecting of the present invention
After hardware design is finished, need be by signal gathering unit 2 pick-up transducers signals, output to signal processing unit 3 by serial ports, the sensor signal that signal processing unit 3 will be demarcated after handling is passed to virtual reality system 4, thereby realizes the real time kinematics control of 5 pairs of virtual combining machine models 8 of each pilothouse component.The design process of signal gathering unit 2 is as follows:
The testing table circuit board has 27 signal outputs altogether, wherein 20 switching signals and 7 simulating signals.Whole signals are stored in (16 system) in 10 bytes, and wherein the simulating signal of steering wheel takies two bytes, and data are ± 32768, precision 1 degree; Brake pedal, gas pedal, hand throttle, stepless change handle, taiwan cut off and landing handle and winder lifting handle are demarcated at host computer; 20 switching signals are divided into and fit in 4 bytes, connect and define by the order of sensor regulation.With the transmission speed output of circuit board signal, insert signal processing unit 3 by the R232 serial ports with 9600bps.
3) motion control of 1 pair of virtual combining machine model 8 of driving cabin of combined-harvester
Virtual combining machine model 8 is important component parts of the present invention, this model is an example with certain model united reaper, utilize Unigraphics NX software to carry out accurate modeling, be converted into by third party software and can be applied to the dummy model that virtual reality system 4 is carried out true-time operation emulation according to actual combine dimensions.
In Vega Prime virtual reality software, a controllable dof (degree of freedom degree of freedom) node has been represented a vpPart.Therefore, realize motion control, with virtual reality modelling software MultiGen Creator dummy model be carried out hierarchical structure earlier and divide, add dof node and kinetic characteristic each pilothouse component 5; In Vega Prime API, the direction of motion and the speed of dof node are controlled then with respective function.Motion with driving operation test desk of combine harvester control steering wheel 13 is an example below, describes main flow process of the present invention (as shown in Figure 5) in detail:
// judgement input equipment type
If (m_nRealTestInputType==2) // judge whether input equipment is the united reaper testing table
M_strcDriveHarvData=g_strcDriveHarvData; // transmission signal data
// reading united reaper testing table sensor signal, the rower of going forward side by side is fixed
X=(BYTE) (Read_lpBuffer[In88+2]); // read the letter of steering wheel sensor in the appropriate address
Number
DFangxiang=360*x/240; // unit conversion is degree
if(dFangxiang＞648)dFangxiang＝648；
Else if (dFangxiang＜-648) dFangxiang=-648; // sensor signal is limited to ± 648
In
DFangxiang=450*360*dFangxiang/240/648; // conversion back steering wheel scope ± 450 °
g_strcDriveHarvData.m_Fangxiang＝dFangxiang；
// find the steering wheel node
VpObject*m_harvester; // definition united reaper obj
M_harvester=vpObject::find (" myObject_Harvester "); // find the united reaper mould
Type
VsDOF*m_SteerDof; // definition steering wheel dof
VsNode*myNode; // defined node
MyNode=m_harvester-＞find_named (" steer "); // in the combining machine model, find name
Node for " steer "
if(myNode&&myNode-＞isOfClassType(vsDOF::getStaticClassType()))
M_SteerDof=(vsDOF*) myNode; // the node node is converted into the vsDOF class
// add motion control for steering wheel dof
M_dSteeringAng=-harvesterdata.m_Fangxiang; // steering wheel angle assignment
M_SteerDof-＞setRotateH (m_dSteeringAng, false); // control steering wheel dof changes around the Z axle
Moving
Design combine operation scene in virtual reality system 4, choose different united reaper operator on the tractors and on the test-drive platform, carry out riding manipulation, in a certain operation process, utilize other subtest instrument monitoring drivers' features such as physiology, psychology and behavior, carry out the ergonomics analysis, be used to improve the design of pilothouse.
The present invention only describes with the foregoing description; the structure of each parts, the position is set and connects and all can change to some extent; on the basis of technical solution of the present invention; all improvement and equivalents of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.
Claims (9)
1. driving operation test desk of combine harvester, it is characterized in that: it comprises a driving cabin of combined-harvester, a signal gathering unit, a signal processing unit and a virtual reality system; Described driving cabin of combined-harvester comprises some pilothouse components, some sensors and a base; Described pilothouse component comprises unloading clutch, main clutch, steering wheel, brake pedal, gas pedal, seat, hand throttle, flame-out backguy, shift handle, electrodeless variable-speed handle, taiwan cut off and landing handle and winder lifting handle, and each described pilothouse component is assemblied on the described base plate according to the layout of each operating element in the driving cabin of combined-harvester man-machine interface; On each described pilothouse component described sensor is installed all, each described sensor connects described signal gathering unit, signal processing unit and virtual reality system successively; Be provided with virtual combining machine model and virtual scene model in the described virtual reality system; Described signal gathering unit is gathered the sensor signal on each described pilothouse component, and output to described signal processing unit by serial ports, the described sensor signal that described signal processing unit will be demarcated after handling is passed to described virtual reality system, is synchronized with the movement thereby drive described virtual combining machine model.
2. a kind of driving operation test desk of combine harvester as claimed in claim 1 is characterized in that: described pilothouse component also comprises clutch pedal and reserves handle.
3. a kind of driving operation test desk of combine harvester as claimed in claim 2 is characterized in that: each described pilothouse component is selected right sensors according to the signal type of each operating element output in the driving cabin of combined-harvester man-machine interface: described unloading clutch, main clutch, clutch pedal, flame-out backguy and shift handle adopt microswitch to export their operation signal; Described brake pedal, gas pedal, hand throttle, stepless change handle, taiwan cut off and landing handle and winder lifting handle adopt multiturn potentiometer to export their operation signal; Described steering wheel adopts the higher photoelectric encoder of precision to export its operation signal, and described photoelectric encoder has 360 grids, pulse of an angle output of every rotation; All described sensors all adopt the power supply of 5V power supply, and each described sensor is a parallel circuit.
4. a kind of driving operation test desk of combine harvester as claimed in claim 1 or 2, it is characterized in that: adopt gearshift I-shaped plate to come the stroke of the described shift handle of standard, described gearshift I-shaped plate is a sheet metal that offers the I-shaped groove, and described I-shaped groove comprises four gears.
5. a kind of driving operation test desk of combine harvester as claimed in claim 3, it is characterized in that: adopt gearshift I-shaped plate to come the stroke of the described shift handle of standard, described gearshift I-shaped plate is a sheet metal that offers the I-shaped groove, and described I-shaped groove comprises four gears.
6. as claim 3 or 5 described a kind of driving operation test desk of combine harvester, it is characterized in that: described brake pedal is connected with the transmission shaft of described clutch pedal by a driving lever, described transmission shaft two ends are connected with left and right back up pad, and described left and right back up pad is fixed on the described base plate; The swinging end of described driving lever connects a connecting rod, and the axle of the fixedly connected described multiturn potentiometer of described connecting rod, described multiturn potentiometer are fixed on the described right back up pad.
7. as claim 1 or 2 or 3 or 5 described a kind of driving operation test desk of combine harvester, it is characterized in that: utilize Unigraphics NX software to carry out accurate modeling earlier headed by the described virtual combining machine model, be converted into by third party software and can be applied to the dummy model that described virtual reality system is carried out true-time operation emulation according to actual combine dimensions; With virtual reality modelling software MultiGen Creator described dummy model is carried out hierarchical structure then and divide, add dof node and kinetic characteristic; In Vega Prime API, the direction of motion and the speed of dof node are controlled at last with respective function.
8. a kind of driving operation test desk of combine harvester as claimed in claim 4, it is characterized in that: utilize Unigraphics NX software to carry out accurate modeling earlier headed by the described virtual combining machine model, be converted into by third party software and can be applied to the dummy model that described virtual reality system is carried out true-time operation emulation according to actual combine dimensions; With virtual reality modelling software MultiGen Creator described dummy model is carried out hierarchical structure then and divide, add dof node and kinetic characteristic; In Vega Prime API, the direction of motion and the speed of dof node are controlled at last with respective function.
9. a kind of driving operation test desk of combine harvester as claimed in claim 6, it is characterized in that: utilize Unigraphics NX software to carry out accurate modeling earlier headed by the described virtual combining machine model, be converted into by third party software and can be applied to the dummy model that described virtual reality system is carried out true-time operation emulation according to actual combine dimensions; With virtual reality modelling software MultiGen Creator described dummy model is carried out hierarchical structure then and divide, add dof node and kinetic characteristic; In Vega Prime API, the direction of motion and the speed of dof node are controlled at last with respective function.
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| CN105047040A (en) * | 2015-07-16 | 2015-11-11 | 黑龙江八一农垦大学 | High horsepower wheeled tractor simulation operation training system |
| CN106781827A (en) * | 2017-03-14 | 2017-05-31 | 长江涪陵航道管理处 | Ship-handling training system and method |
| CN108152054A (en) * | 2017-12-25 | 2018-06-12 | 华中农业大学 | A kind of manipulation device analogue test platform of Agricultural Machinery Equipment driver's cabin |
| CN109559629A (en) * | 2019-01-21 | 2019-04-02 | 柳州铁道职业技术学院 | A kind of road maintainance machinery analog platform |
| CN110865631A (en) * | 2019-11-28 | 2020-03-06 | 中国农业大学 | CAN bus-based intelligent control test platform for multifunctional corn harvester |
| CN113702065A (en) * | 2021-08-27 | 2021-11-26 | 河南科技大学 | Combine seat stress test system based on PLC control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104332080A (en) * | 2013-07-22 | 2015-02-04 | 克拉斯自行式收获机械有限公司 | Agricultural machine simulator |
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| CN109559629A (en) * | 2019-01-21 | 2019-04-02 | 柳州铁道职业技术学院 | A kind of road maintainance machinery analog platform |
| CN110865631A (en) * | 2019-11-28 | 2020-03-06 | 中国农业大学 | CAN bus-based intelligent control test platform for multifunctional corn harvester |
| CN113702065A (en) * | 2021-08-27 | 2021-11-26 | 河南科技大学 | Combine seat stress test system based on PLC control |
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|---|---|
| CN101872558B (en) | 2011-08-10 |
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