CN102522022A - Operating mechanism signal acquisition system of driving equipment virtual training system and equipment - Google Patents
Operating mechanism signal acquisition system of driving equipment virtual training system and equipment Download PDFInfo
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- CN102522022A CN102522022A CN2011104149967A CN201110414996A CN102522022A CN 102522022 A CN102522022 A CN 102522022A CN 2011104149967 A CN2011104149967 A CN 2011104149967A CN 201110414996 A CN201110414996 A CN 201110414996A CN 102522022 A CN102522022 A CN 102522022A
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Abstract
The invention discloses an operating mechanism signal acquisition system of a driving equipment virtual training system. The operating mechanism signal acquisition system comprises a driving equipment controller and virtual training equipment. The driving equipment controller and the virtual training equipment are connected through a wireless mode or a wired mode. The driving equipment controller is used for acquiring a present motion signal of an operating mechanism and transmitting the acquired present motion signal of the operating mechanism to the virtual training equipment. The virtual training equipment is used for receiving the present motion signal of the operating mechanism which is acquired by the driving equipment controller and carrying out simulation according to the present motion signal of the operating mechanism. According to the scheme, present motion signals of various operating mechanisms which are directly acquired by the present driving equipment controller are sent to the virtual training equipment to carry out simulation, stability and reliability can be raised, good operation reality sense and field reality sense are provided, and since there is no need to add an acquisition card and a sensor, cost investment is reduced.
Description
Technical field
The present invention relates to the virtual training emulation field of tower crane, be meant the operating mechanism signal acquiring system and the equipment of a kind of steer virtual training system especially.
Background technology
The signal acquiring system of existing virtual driving training platform generally adopts extraneous power supply to be the power supply of whole sensor system, and the sensor signal in the sensing system reaches computing machine through the I/O interface through capture card.
Referring to shown in Figure 1; The existing operating mechanism signal acquiring system that is used for overhead travelling crane virtual training system; This operating mechanism signal acquiring system comprises computing machine, capture card, sensor groups, control module, and wherein capture card inserts in the pci interface of computing machine.Control module comprises the plurality of sub control module; Concrete main hook hoist control module, auxiliary hook hoist control module, cart control module, dolly control module, master machine control unit; Master machine control unit comprises start-up control device, stop control and anxious stop controller; Accordingly; Each sub-control module sends to capture card with corresponding main hook the hoist sensor signal of sensor, cart sensor, dolly sensor etc. of sensor, auxiliary hook that hoists through the I/O interface accordingly, is transferred to computing machine through capture card again.
In the such scheme; In order to obtain the operating mechanism signal really, utilize extra sensor to detect the operating mechanism signal after, the capture card that need have capture card or other interfaces of I/O interface is transferred to computing machine; Therefore stable; Reliability is all lower, cost is high, and needs to carry out corresponding hardware drive program exploitation to collecting device, and the construction cycle is long.And, increased the connection work of a large amount of signal wires owing to direct various signals with sensor acquisition send to the equipment capture card.
Summary of the invention
The present invention provides the operating mechanism signal acquiring system and the equipment of a kind of steer virtual training system, in order to when obtaining real operating mechanism signal, can improve stability and reliability.
The operating mechanism signal acquiring system of a kind of steer virtual training system that the embodiment of the invention provides; This operating mechanism signal acquiring system comprises: steer controller and virtual training equipment; Wherein, Said steer controller is connected through wireless mode or wired mode with said virtual training equipment
Said steer controller is used for the current actuating signal of acquisition operations mechanism; The actuating signal that the operating mechanism that collects is current is transferred to virtual training equipment;
Said virtual training equipment is used to receive the current actuating signal of operating mechanism that the steer controller is gathered; The actuating signal current according to said operating mechanism carried out emulation.
Said virtual training equipment is further used for the actuating signal current according to said operating mechanism, obtains the emulation mode signal of corresponding virtual driving, and the emulation mode signal of said virtual driving is sent to the steer controller;
Then said steer controller is further used for carrying out the control of corresponding system according to the emulation mode signal of said virtual driving.
Said steer is a tower crane, and said steer controller is the tower machine controller.
The current actuating signal of said operating mechanism comprises: at least a in rotary handle control signal, luffing handle control signal, the handle control signal that hoists, enabling signal, whistle signal, revolution locking, the brake signal that hoists, rotary braking signal and the luffing brake signal.
The emulation mode signal of said virtual driving comprises: at least a in various alerting signals, luffing position signalling, rotary position signal, the position signalling that hoists, luffing rate signal, speed of gyration signal, lifting velocity and the lift heavy signal.
Said steer controller connects said virtual training equipment through RS485 bus or CAN bus.
Said RS485 bus or CAN bus are Shielded Twisted Pair.
Have terminal resistance between the Shielded Twisted Pair of said steer controller side, have terminal resistance between the Shielded Twisted Pair of said steer controller side.
A kind of tower crane that the embodiment of the invention provides comprises: operating mechanism, tower machine controller and the transmission unit that links to each other with said tower machine controller.
Operating mechanism moves according to the control of tower machine controller;
The tower machine controller after being used to receive the control command from the outside, produces control signal operating mechanism is controlled; Obtain the current actuating signal of operating mechanism, and the actuating signal that the operating mechanism of said acquisition is current sends to transmission unit;
Transmission unit is used for the actuating signal that said operating mechanism is current and is transferred to virtual training equipment;
Said transmission unit also be further used for receiving the emulation mode signal from the virtual driving of said virtual training equipment, and the emulation mode signal of the said virtual driving that will receive is transferred to said tower machine controller;
Said tower machine controller is used for carrying out the control of corresponding system according to the emulation mode signal of the said virtual driving of receiving.
Said transmission unit is a wireless transport module.
Said transmission unit is for connecting the RS485 bus or the CAN bus of virtual training equipment.
Said RS485 bus or CAN bus are Shielded Twisted Pair.
The current actuating signal of said operating mechanism comprises: one or more in rotary handle control signal, luffing handle control signal, the handle control signal that hoists, enabling signal, whistle signal, revolution locking, the brake signal that hoists, rotary braking signal and the luffing brake signal.
The emulation mode signal of said virtual driving comprises: at least a in various alerting signals, luffing position signalling, rotary position signal, the position signalling that hoists, luffing rate signal, speed of gyration signal, lifting velocity and the lift heavy signal.
A kind of driving virtual training equipment that the embodiment of the invention provides, this equipment comprises:
Communication interface is used to receive the current actuating signal of operating mechanism that steer is gathered;
The three-dimensional vision simulation unit is used for the actuating signal current according to said operating mechanism, carries out emulation.
Said three-dimensional vision simulation unit is further used for the actuating signal current according to said operating mechanism, obtains the status signal of corresponding virtual driving, and the emulation mode signal of said virtual driving is sent to said steer.
Said communication interface is a wave point, or wireline interface.
Said wireline interface is 485 EBIs or CAN EBI.
Said steer is a tower crane.
In the embodiment of the invention, said steer controller is connected through wireless mode or wired mode with said virtual training equipment, the current actuating signal of said steer controller acquisition operations mechanism; The actuating signal that the operating mechanism that collects is current is transferred to virtual training equipment; The actuating signal that said virtual training equipment is current according to said operating mechanism is carried out emulation.This scheme directly will have the current actuating signal of various operating mechanisms that the steer controller directly obtains now and send to said virtual training equipment and carry out emulation; Can improve stability and reliability; And have and operate the sense of reality and the sense of reality of coming personally preferably; Owing to need not to add capture card and sensor, reduce the cost input, also need not to carry out complicated line; Be applicable to the operating mechanism signals collecting of tower crane virtual emulation training system, also be applicable to the driving simulator of other similar simulated operation training requirement simultaneously.
Description of drawings
Fig. 1 is the existing structural representation that is used for the operating mechanism signal acquiring system of overhead travelling crane virtual training system;
Fig. 2 is the structural representation of the operating mechanism signal acquiring system of steer virtual training system in the embodiment of the invention;
Fig. 3 is the one-piece construction structural representation of the tower machine virtual driving training platform of the embodiment of the invention;
Fig. 4 is a data acquisition communication scheme embodiment illustrated in fig. 3;
Fig. 5 is that hardware embodiment illustrated in fig. 3 connects synoptic diagram.
Embodiment
Referring to shown in Figure 2; In order to reduce to obtain to obtain really the complexity of operating mechanism signal; The operating mechanism signal acquiring system of the embodiment of the invention comprises: steer controller 21 and virtual training equipment 22; Wherein, Said steer controller 21 is connected through wireless mode or wired mode with said virtual training equipment 22, such as: said steer controller can connect said virtual training equipment through RS485 bus or CAN bus, also can pass through other wave points such as bluetooth, WIFI and connect virtual training equipment.
Said steer controller 21 is used to obtain the current actuating signal of operating mechanism; The actuating signal that the operating mechanism that collects is current is transferred to virtual training equipment; Said virtual training equipment 22 is used to receive the current actuating signal of operating mechanism that the steer controller is gathered; The actuating signal current according to said operating mechanism carried out emulation.
For real simulated driver behavior more; Said virtual training equipment 22 can be further used for the actuating signal current according to said operating mechanism; Obtain the emulation mode signal of corresponding virtual driving, and the emulation mode signal of said virtual driving is sent to the steer controller; After this, said steer controller 21 can be further used for carrying out the control of corresponding system according to the emulation mode signal of said virtual driving.
Here, steer can be various cranes such as tower crane, overhead travelling crane, perhaps be other steers also can, only need the steer controller to obtain the current actuating signal of operating mechanism and get final product.
Below in conjunction with Fig. 3 and with the steer is that tower crane is the concrete implementation that example is explained the embodiment of the invention.In this scheme, said steer controller is the tower machine controller.
Fig. 3 is the one-piece construction of the tower machine virtual driving training platform of present embodiment.Referring to shown in Figure 3, the tower machine virtual driving training platform of present embodiment comprises: simulation computer 32, tower crane 30 and display 35, wherein, tower crane 30 comprises tower machine controller 31 and operating mechanism 36.Comprise three-dimensional vision simulation unit 34 and communication interface 33 in the simulation computer 32.Here, simulation computer 32 is equivalent to said virtual training equipment 21, and tower machine controller 31 is equivalent to above-mentioned steer controller 21.
Tower machine controller 31 obtains the current actuating signal of operating mechanism 36 and gives the communication interface 33 in the simulation computer 32 through 485 buses; Communication interface 33 is transferred to three-dimensional vision simulation unit 34 with the current actuating signal of the operating mechanism that receives 36 and carries out simulation process, and the what comes into a driver's signal of emulation is transferred to display 35 shows.
Further, simulation computer 32 can be further used for the actuating signal current according to said operating mechanism, obtains the status signal of corresponding virtual tower machine, and the emulation mode signal of said virtual driving is sent to tower machine controller 31; Said tower machine controller 31 can be further used for carrying out the control of corresponding system according to the status signal of said virtual tower machine.Here, the status signal of virtual tower machine is equivalent to the emulation mode signal of above-mentioned virtual driving.
A kind of tower crane 30 of present embodiment comprises: tower machine controller 31, the transmission unit 37 and the operating mechanism 36 that link to each other with said tower machine controller 31.Wherein,
Tower machine controller 31 be used to obtain the current actuating signal of operating mechanism 36, and the actuating signal that the operating mechanism of said acquisition is current sends to transmission unit; After receiving control command, produce control signal operating mechanism 36 is controlled from the outside.
Referring to shown in Figure 4; Tower machine controller 31 can obtain the corresponding action signal to following operation arbitrarily; Such as rotary handle, luffing handle, hoist handle or other handles, the current actuating signal of corresponding actuating mechanisms can for: rotary handle control signal, luffing handle control signal, handle control signal etc. hoists.Also can comprise in enabling signal, whistle signal, revolution locking, the brake signal that hoists, rotary braking signal and the luffing brake signal one or more also being not limited to above-mentioned signal certainly, can also comprise the actuating signal that other operating mechanisms are current.
For more real simulated driving, said transmission unit 37 also is further used for receiving the emulation mode signal from the virtual driving of said virtual training equipment, and the status information transmission of the said virtual driving equipment that will receive is given tower machine controller 31; Said tower machine controller 31 is used for carrying out the control of corresponding system according to the status information of the said virtual driving equipment of receiving.The emulation mode signal of said virtual driving comprises: at least a in various alerting signals, luffing position signalling, rotary position signal, the position signalling that hoists, luffing rate signal, speed of gyration signal, lifting velocity and the lift heavy signal.
Said transmission unit 37 can be wireless transport module.Said transmission unit 37 can be for connecting the RS485 bus or the CAN bus of virtual training equipment; Bus specifically can be the twisted-pair feeder communications cable; Can reduce like this to disturb, and can connect a terminal resistance between two twisted-pair feeders, specifically can be referring to shown in Figure 5.
In embodiments of the present invention,, use the mode of sensor, capture card to compare, improved the stability of system greatly, reliability with prior art owing to directly utilized the actuating signal of the PLC acquisition operations mechanism in the pilothouse and carried out communication with simulation computer.And easy to use, cost performance is high, antijamming capability is strong; Installation and Debugging are easy to maintenance, improved the efficient of development of virtual training system greatly; Shorten design programming and construction cycle, meet the reality of product more, increased the sense of reality of training.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, belong within the scope of claim of the present invention and equivalent technologies thereof if of the present invention these are revised with modification, then the present invention also is intended to comprise these changes and modification interior.
Claims (15)
1. the operating mechanism signal acquiring system of a steer virtual training system; It is characterized in that; This operating mechanism signal acquiring system comprises: steer controller and virtual training equipment; Wherein, said steer controller is connected through wireless mode or wired mode with said virtual training equipment
Said steer controller is used for the current actuating signal of acquisition operations mechanism; The actuating signal that the operating mechanism that collects is current is transferred to virtual training equipment;
Said virtual training equipment is used to receive the current actuating signal of operating mechanism that the steer controller is gathered; The actuating signal current according to said operating mechanism carried out emulation.
2. operating mechanism signal acquiring system according to claim 1; It is characterized in that; Said virtual training equipment; Be further used for the actuating signal current, obtain the emulation mode signal of corresponding virtual driving, and the emulation mode signal of said virtual driving is sent to the steer controller according to said operating mechanism;
Then said steer controller is further used for carrying out the control of corresponding system according to the emulation mode signal of said virtual driving.
3. operating mechanism signal acquiring system according to claim 1 and 2 is characterized in that, said steer is a tower crane, and said steer controller is the tower machine controller.
4. operating mechanism signal acquiring system according to claim 3; It is characterized in that the current actuating signal of said operating mechanism comprises: at least a in rotary handle control signal, luffing handle control signal, the handle control signal that hoists, enabling signal, whistle signal, revolution locking, the brake signal that hoists, rotary braking signal and the luffing brake signal.
5. operating mechanism signal acquiring system according to claim 4; It is characterized in that the emulation mode signal of said virtual driving comprises: at least a in various alerting signals, luffing position signalling, rotary position signal, the position signalling that hoists, luffing rate signal, speed of gyration signal, lifting velocity and the lift heavy signal.
6. operating mechanism signal acquiring system according to claim 1 is characterized in that, said steer controller connects said virtual training equipment through RS485 bus or CAN bus.
7. operating mechanism signal acquiring system according to claim 6 is characterized in that, said RS485 bus or CAN bus are Shielded Twisted Pair.
8. operating mechanism signal acquiring system according to claim 7 is characterized in that, has terminal resistance between the Shielded Twisted Pair of said steer controller side, has terminal resistance between the Shielded Twisted Pair of said steer controller side.
9. a tower crane is characterized in that, this tower crane comprises: operating mechanism, tower machine controller and the transmission unit that links to each other with said tower machine controller;
Operating mechanism moves according to the control of tower machine controller;
The tower machine controller after being used to receive the control command from the outside, produces control signal operating structure is controlled; Obtain the current actuating signal of operating mechanism, and the actuating signal that the operating mechanism of said acquisition is current sends to transmission unit;
Transmission unit is used for the actuating signal that said operating mechanism is current and is transferred to virtual training equipment.
10. tower crane according to claim 9; It is characterized in that; Said transmission unit also be further used for receiving the emulation mode signal from the virtual driving of said virtual training equipment, and the emulation mode signal of the said virtual driving that will receive is transferred to said tower machine controller;
Said tower machine controller is used for carrying out the control of corresponding system according to the emulation mode signal of the said virtual driving of receiving.
11., it is characterized in that said transmission unit is a wireless transport module according to claim 9 or 10 described tower crane.
12. tower crane according to claim 9; It is characterized in that the current actuating signal of said operating mechanism comprises: one or more in rotary handle control signal, luffing handle control signal, the handle control signal that hoists, enabling signal, whistle signal, revolution locking, the brake signal that hoists, rotary braking signal and the luffing brake signal.
13. tower crane according to claim 12; It is characterized in that the emulation mode signal of said virtual driving comprises: at least a in various alerting signals, luffing position signalling, rotary position signal, the position signalling that hoists, luffing rate signal, speed of gyration signal, lifting velocity and the lift heavy signal.
14. drive virtual training equipment, it is characterized in that this equipment comprises for one kind:
Communication interface is used to receive the current actuating signal of operating mechanism that steer is gathered;
The three-dimensional vision simulation unit is used for the actuating signal current according to said operating mechanism, carries out emulation.
15. equipment according to claim 14; It is characterized in that; Said three-dimensional vision simulation unit; Be further used for the actuating signal current, obtain the status signal of corresponding virtual driving, and the emulation mode signal of said virtual driving is sent to said steer according to said operating mechanism.
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| CN2011104149967A CN102522022A (en) | 2011-12-13 | 2011-12-13 | Operating mechanism signal acquisition system of driving equipment virtual training system and equipment |
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| CN2011104149967A CN102522022A (en) | 2011-12-13 | 2011-12-13 | Operating mechanism signal acquisition system of driving equipment virtual training system and equipment |
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Cited By (13)
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| CN103093682A (en) * | 2013-01-09 | 2013-05-08 | 湖州电力局 | Isolation bucket arm vehicle simulation practical training method based on six-degree-of-freedom motion control platform |
| CN103761897A (en) * | 2014-01-03 | 2014-04-30 | 张少靖 | Simulation training device for automobile crane |
| CN105185185A (en) * | 2015-10-12 | 2015-12-23 | 广州市轻工高级技工学校 | Train driving fault simulation experiment device and method |
| CN105809103A (en) * | 2015-01-21 | 2016-07-27 | 福特全球技术公司 | Virtual autonomous response testbed |
| CN106966300A (en) * | 2017-05-24 | 2017-07-21 | 成都跟驰科技有限公司 | Induction control system for tower crane |
| CN107146493A (en) * | 2017-07-14 | 2017-09-08 | 武汉市特种设备监督检验所 | A kind of mechanical operating personnel's test system of universal crane |
| CN107195239A (en) * | 2017-07-14 | 2017-09-22 | 武汉市特种设备监督检验所 | A kind of mechanical operating personnel's training apparatus of universal crane |
| CN107564362A (en) * | 2017-08-23 | 2018-01-09 | 天津交控科技有限公司 | The full-automatic training component of train driving in a kind of urban track traffic |
| 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 |
| CN109650258A (en) * | 2019-01-15 | 2019-04-19 | 上海振华重工(集团)股份有限公司 | A kind of gantry crane operating system |
| CN110459119A (en) * | 2019-08-13 | 2019-11-15 | 李力 | A kind of gate-type bridge crane electric control circuit adjustment half training system in kind |
| CN113562640A (en) * | 2021-08-19 | 2021-10-29 | 三一汽车起重机械有限公司 | Amplitude variation test method and amplitude variation test system for crane |
| CN114495634A (en) * | 2021-12-27 | 2022-05-13 | 中国科学院沈阳自动化研究所 | Manned simulator control and simulation training device and training method |
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| CN109650258A (en) * | 2019-01-15 | 2019-04-19 | 上海振华重工(集团)股份有限公司 | A kind of gantry crane operating system |
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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 |
| CN110459119A (en) * | 2019-08-13 | 2019-11-15 | 李力 | A kind of gate-type bridge crane electric control circuit adjustment half training system in kind |
| CN113562640A (en) * | 2021-08-19 | 2021-10-29 | 三一汽车起重机械有限公司 | Amplitude variation test method and amplitude variation test system for crane |
| CN113562640B (en) * | 2021-08-19 | 2023-08-15 | 三一汽车起重机械有限公司 | Amplitude-changing test method and test system for crane |
| CN114495634A (en) * | 2021-12-27 | 2022-05-13 | 中国科学院沈阳自动化研究所 | Manned simulator control and simulation training device and training method |
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Application publication date: 20120627 |