CN103208213B - Operation simulation virtual command device, system and method and engineering machinery - Google Patents
Operation simulation virtual command device, system and method and engineering machinery Download PDFInfo
- Publication number
- CN103208213B CN103208213B CN201310076326.8A CN201310076326A CN103208213B CN 103208213 B CN103208213 B CN 103208213B CN 201310076326 A CN201310076326 A CN 201310076326A CN 103208213 B CN103208213 B CN 103208213B
- Authority
- CN
- China
- Prior art keywords
- moving component
- instruction
- predeterminable area
- engineering machinery
- preset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004088 simulation Methods 0.000 title abstract description 6
- 238000013507 mapping Methods 0.000 claims abstract description 10
- 230000011664 signaling Effects 0.000 claims description 15
- 230000005236 sound signal Effects 0.000 claims description 3
- 238000007654 immersion Methods 0.000 abstract description 5
- 239000000725 suspension Substances 0.000 description 25
- 230000007423 decrease Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Operation Control Of Excavators (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a virtual command device, a virtual command system, a virtual command method and engineering machinery for engineering machinery operation simulation. The device includes: a receiver for receiving a position signal of a moving part of the work machine; and the controller is connected with the receiver and used for judging whether the moving part moves to a preset area or not according to the position signal, determining the operation to be executed by the moving part in the preset area according to the mapping relation between the area and the operation instruction under the condition that the moving part moves to the preset area, and outputting the instruction corresponding to the operation to command an operator to operate. The instruction is sent to the operator to guide the operator to operate, so that the sense of reality and the sense of immersion of the operator during simulation training can be increased, and the instructions are from real standards and actual practice, so that the operator can fully know the specifications and requirements in tower crane operation while operating according to the instruction, manual assistance and intervention are not needed, and the training effect is good.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of virtual command device for work machine operation emulation, system, method and engineering machinery.
Background technology
Usually tower machine is needed to lift, so that weight is lifted into another position from a position in majority construction phenomenon.Hoisting process needs tower machine tractor driver to carry out operating and controlling, and therefore, carries out simulation operations training very necessary to tower machine tractor driver.
Due to hoisting process initial period and release stage operating mode more complicated (such as, because chaff interference is more), in practical operation, tractor driver needs the commander of submit onself to someone's direction person to operate usually, to reach the object of safety work.But existing tower machine simulation training system does not possess the function of virtual command, therefore, tractor driver, when carrying out emulation training, can operate arbitrarily, can not experience real tower machine operation scenario, and about tower machine operation requirement and specification.And if want training tractor driver being carried out to this respect, then need manual intervention, increase human cost and subjectivity.
Summary of the invention
The object of this invention is to provide a kind of virtual command device for work machine operation emulation, system, method and engineering machinery, to increase the sense of reality of operator when carrying out emulation training and feeling of immersion.
To achieve these goals, the invention provides a kind of virtual command device for work machine operation emulation, this device comprises: receiver, for receiving the position signalling of the moving component of described engineering machinery; And, controller, be connected with described receiver, for judging whether described moving component moves to predeterminable area according to described position signalling, and when described moving component moves to described predeterminable area, according to the mapping relations of described region and operational order, determine the operation that moving component should perform described in this predeterminable area, and export and operate corresponding instruction operate with commander operator with described.
The present invention also provides a kind of virtual command system for work machine operation emulation, and this system comprises: pick-up unit, for detecting the position signalling of the moving component of described engineering machinery; And above-mentioned virtual command device, be connected with described pick-up unit.
The present invention also provides a kind of engineering machinery comprising said system.
The present invention also provides a kind of virtual command method for work machine operation emulation, and the method comprises: the position signalling receiving the moving component of described engineering machinery; Judge whether described moving component moves to predeterminable area according to described position signalling; When described moving component moves to described predeterminable area, according to the mapping relations of described region and operational order, determine the operation that moving component should perform described in this predeterminable area; And export and operate corresponding instruction operate with commander operator with described.
In technique scheme, operate to instruct it by sending instruction to operator, considerably increase the sense of reality of operator when carrying out emulation training and feeling of immersion, and above-mentioned instruction all derives from true standard and actual convention, therefore, operator, while carrying out operating according to instruction, fully can understand the specification and requirement in the operation of tower machine, without the need to human assistance and intervention, thus play good result of training.
Other features and advantages of the present invention are described in detail in embodiment part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for instructions, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 is tower machine operation virtual command path schematic diagram according to the embodiment of the present invention;
Fig. 2 is the structural drawing of virtual command device according to the embodiment of the present invention;
Fig. 3 is the schematic diagram that tower machine lift hook position according to the embodiment of the present invention judges;
Fig. 4 is example commander instruction flow chart according to the embodiment of the present invention;
Fig. 5 is the structural drawing of virtual command system according to the embodiment of the present invention; And
Fig. 6 is the process flow diagram of virtual command method according to the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, embodiment described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
Usually need the commander of submit onself to someone's direction person to operate at the initial period of hoisting process and release stage, to reach the object of safety work, as shown in Figure 1, initial period such as suspension hook 2 is moving to E point to hang up the process being positioned at the weight 3 of O point from A point, and release stage such as suspension hook 2 moves to K point weight 3 to be discharged into the process of the target location K of buildings 1 from F point.Due to comparatively spacious to the interstage environment of F point from E point, barrier is less, therefore, allows operator's free operant.For the path shown in Fig. 1, virtual command device provided by the invention, system and method are described in detail below.Although it should be noted that the illustrative tractor driver of being of the present invention needs submit onself to someone's direction operation at the initial period of hoisting process and release stage, when suspension hook moves on other positions, tractor driver also can carry out the commander of submit onself to someone's direction person in a similar way.In addition, the motion path of suspension hook is planned in advance by deviser, can design applicable path according to different site environments.
Fig. 2 shows the structural drawing of the virtual command device for work machine operation emulation according to the embodiment of the present invention.As shown in Figure 2, this device 10 can comprise: receiver 101, for receiving the position signalling of the moving component of described engineering machinery; And, controller 102, be connected with described receiver 101, for judging whether described moving component moves to predeterminable area according to described position signalling, and when described moving component moves to described predeterminable area, according to the mapping relations of described region and operational order, determine the operation that moving component should perform described in this predeterminable area, and export and operate corresponding instruction operate with commander operator with described.
According to the position of moving component (such as, suspension hook), controller 102 judges whether this moving component moves to the method for predeterminable area as shown in Figure 3.One or more permanent datum (such as, P1-PN reference point) can be preset in the space of suspension hook, that is, the motion path of suspension hook is divided into several sections.Then with each permanent datum for the center of circle, with a preset distance for radius (such as 1m), form a spheric region, wherein, the number of spheric region is corresponding with permanent datum number.In order to realize accurate control, can some permanent datums of multiple preset.
When controller 102 determines that the position of suspension hook is in a certain predeterminable area, this controller 102 can utilize the mapping relations of described region and operational order, determines the operation that moving component should perform described in this predeterminable area.
Particularly, store a region and operational order mapping table in the controller 102, the operation that this mapping table should perform under have recorded a certain region.Such as, when suspension hook is in the C point region shown in Fig. 1, it will arrive next target position D point and need move downward, and therefore, controller 102 is determined in C point region, and the operation that suspension hook performs should be decline.After determining the operation that should perform, the exportable instruction of controller 102 indicates described operation.
In order to realize smooth operations, controller 102 can export according to the distance between adjacent two reference point and make suspension hook with the instruction of which kind of speed executable operations.Such as, when the distance between two reference point is less, the exportable suspension hook that makes is with the instruction of relatively low speed executable operations, and such as crawl declines; When distance between two reference point is larger, the exportable suspension hook that makes with the instruction of relatively high speed executable operations, such as, normally declines (or decline, decline as long as can be different from crawl).
Table 1 shows the virtual command instruction set meeting national standard and actual convention.According to the instruction shown in table 1, controller 102 is after the operational example determining suspension hook execution normally declines in this way, and the instruction exporting " decline " carrys out commander tractor driver.Tractor driver, after learning this instruction, carries out corresponding operating.
The form of output order can have multiple, such as, instruction can be exported with audio form, or this instruction be shown.
Table 1
Shown in Fig. 4 is based on the path shown in Fig. 1, the entire flow of the steering order that controller 102 exports.Such as, when suspension hook enters into A point region, controller 102 exports crawl right-hand rotation instruction, and then tractor driver controls the right-hand rotation of suspension hook crawl, when suspension hook enters into B point region, and instruction after controller 102 output point trend, then tractor driver controls suspension hook crawl backward, etc.Hang up after weight at hook, from E point in the motion process of F point, tractor driver can carry out free operant.When suspension hook enters into F point region, controller 102 exports crawl climb command, and then tractor driver controls the rising of suspension hook crawl, and subsequent operation is so carried out, until discharged by weight.
Thus, operating to instruct it by sending instruction to operator, greatly can increasing the sense of reality of operator when carrying out emulation training and feeling of immersion.In addition, because the instruction of all output all meets national standard, therefore, tractor driver, when carrying out training on operation, personally can understand some standards and norms of relevant tower machine operation, not need human assistance, can reach good result of training.
Fig. 5 shows the structural drawing of the virtual command system for work machine operation emulation according to the embodiment of the present invention.As shown in Figure 5, this system can comprise: pick-up unit 20, for detecting the position signalling of the moving component of described engineering machinery; And above-mentioned virtual command device 10, be connected with described pick-up unit 20.
Although do not show in Figure 5, but described virtual command system can also comprise display device, for showing commander's instruction, the partial enlarged drawing of current suspension hook position, the panorama sketch and various parameter information etc. of suspension hook in whole scene, with the motion state making tractor driver can grasp suspension hook in real time, convenient operation.In addition, the real time position of the suspension hook that tractor driver also demonstrates by this display device, carries out manual synchronizing to commander's instruction that virtual command device 10 exports.Such as, when deviation appears in instruction, tractor driver can manual synchronizing, suspension hook is got back on correct track, prevents unexpected generation.
Although the present invention is described for the emulation training of tower machine, the present invention is not limited thereto, Other Engineering machinery also can carry out virtual command training according to virtual command device provided by the invention and system to operator.
Fig. 6 shows the process flow diagram of the virtual command method for work machine operation emulation according to the embodiment of the present invention.As shown in Figure 6, described method can comprise: step 601, receives the position signalling of the moving component of engineering machinery; According to described position signalling, step 602, judges whether described moving component moves to predeterminable area; When determining that moving component moves to predeterminable area, step 603, according to the mapping relations of region and operational order, determines the operation that moving component should perform in this predeterminable area; And step 604, exports and operate corresponding instruction operate with commander operator with described, wherein said instruction is such as with the form output of sound signal or vision signal.When determining that moving component does not move to predeterminable area, be then back to step 601.After carry out step 604, step 605, judges whether moving component continues motion; If so, be then back to step 601 and proceed, until motion terminates.
Although not shown in figure 6, when the described method distance that can also be included between adjacent two permanent datums is more than or equal to a preset value, exports and make described moving component to perform at a high speed the instruction of described operation; And the distance between adjacent two permanent datums is when being less than described preset value, exports and make described moving component perform the instruction of described operation with low speed, realize smooth operations with this.
Thus, in virtual command device provided by the invention, system and method, operate to instruct it by sending instruction to operator, considerably increase the sense of reality of operator when carrying out emulation training and feeling of immersion, and above-mentioned instruction all derives from true standard and actual convention, therefore, operator is while carrying out operating according to instruction, fully can understand the specification and requirement in the operation of tower machine, without the need to human assistance and intervention, thus play good result of training.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive 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.
It should be noted that in addition, each the concrete technical characteristic described in above-mentioned embodiment, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible array mode.
In addition, also can carry out combination in any between various different 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 (10)
1., for a virtual command device for work machine operation emulation, it is characterized in that, this device comprises:
Receiver, for receiving the position signalling of the moving component of described engineering machinery; And
Controller, be connected with described receiver, for judging whether described moving component moves to predeterminable area according to described position signalling, and when described moving component moves to described predeterminable area, according to the mapping relations of described region and operational order, determine the operation that moving component should perform described in this predeterminable area, and export and operate corresponding instruction operate with commander operator with described.
2. device according to claim 1, it is characterized in that, in the space of described moving component, be preset with one or more permanent datum, and described predeterminable area is be the spheric region of radius centered by described one or more permanent datum, with preset distance.
3. device according to claim 2, it is characterized in that, when being preset with multiple permanent datum in the space of described moving component, described controller is also more than or equal to a preset value for the distance between adjacent two permanent datums, exports and make described moving component to perform at a high speed the instruction of described operation; And the distance between adjacent two permanent datums is when being less than described preset value, exports and make described moving component perform the instruction of described operation with low speed.
4. device according to claim 1, is characterized in that, described controller exports described instruction with the form of sound signal or vision signal.
5., for a virtual command system for work machine operation emulation, it is characterized in that, this system comprises:
Pick-up unit, for detecting the position signalling of the moving component of described engineering machinery; And
According to the device in claim 1-4 described in any one claim, be connected with described pick-up unit.
6. one kind comprises the engineering machinery of system according to claim 5.
7., for a virtual command method for work machine operation emulation, it is characterized in that, the method comprises:
Receive the position signalling of the moving component of described engineering machinery;
Judge whether described moving component moves to predeterminable area according to described position signalling;
When described moving component moves to described predeterminable area, according to the mapping relations of described region and operational order, determine the operation that moving component should perform described in this predeterminable area; And
Export and operate corresponding instruction operate with commander operator with described.
8. method according to claim 7, it is characterized in that, in the space of described moving component, be preset with one or more permanent datum, and described predeterminable area is be the spheric region of radius centered by described one or more permanent datum, with preset distance.
9. method according to claim 8, is characterized in that, when being preset with multiple permanent datum in the space of described moving component, described method also comprises:
Distance between adjacent two permanent datums is more than or equal to a preset value, exports and make described moving component to perform at a high speed the instruction of described operation; And
Distance between adjacent two permanent datums is less than described preset value, exports and make described moving component perform the instruction of described operation with low speed.
10. method according to claim 7, is characterized in that, described instruction exports with the form of sound signal or vision signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310076326.8A CN103208213B (en) | 2013-03-11 | 2013-03-11 | Operation simulation virtual command device, system and method and engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310076326.8A CN103208213B (en) | 2013-03-11 | 2013-03-11 | Operation simulation virtual command device, system and method and engineering machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103208213A CN103208213A (en) | 2013-07-17 |
| CN103208213B true CN103208213B (en) | 2015-07-15 |
Family
ID=48755426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310076326.8A Active CN103208213B (en) | 2013-03-11 | 2013-03-11 | Operation simulation virtual command device, system and method and engineering machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103208213B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7119716B2 (en) * | 2003-05-28 | 2006-10-10 | Legalview Assets, Limited | Response systems and methods for notification systems for modifying future notifications |
| WO2005008639A2 (en) * | 2003-07-17 | 2005-01-27 | Koninklijke Philips Electronics N.V. | Servo system |
| CN201619959U (en) * | 2010-03-30 | 2010-11-03 | 三一重工股份有限公司 | Engineering machine and stability control system thereof |
| CN102431911B (en) * | 2011-09-29 | 2013-07-24 | 中联重科股份有限公司 | Control method and control device for boom extension and retraction and engineering machinery |
| CN102514550B (en) * | 2011-12-20 | 2014-04-30 | 长沙中联消防机械有限公司 | Engineering machinery and safety state determining method, device and system thereof |
| CN102542361B (en) * | 2012-01-11 | 2016-03-02 | 中联重科股份有限公司 | Crane hoisting object path planning method |
| CN102535852B (en) * | 2012-01-16 | 2014-04-16 | 三一重工股份有限公司 | Operating and controlling system and method of mechanical arm, and engineering machinery |
| CN102841961B (en) * | 2012-07-20 | 2015-05-20 | 中南大学 | Method for detecting three-dimensional lifting dynamic collision based on cache information |
-
2013
- 2013-03-11 CN CN201310076326.8A patent/CN103208213B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN103208213A (en) | 2013-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2741456C2 (en) | Remote control device for crane, construction machine and/or lift truck | |
| CN110209146B (en) | Test method, device and equipment for automatic driving vehicle and readable storage medium | |
| CN111593783B (en) | Anti-collision control method, device and system for excavator and excavator | |
| EP2821359B1 (en) | Crane controller | |
| US20140012419A1 (en) | Robot control apparatus and robot control method | |
| CN106672810A (en) | Self-learning type intelligent obstacle avoidance control system and method of tower crane | |
| CN103867205A (en) | Remote control system and remote control method of heading machine | |
| CN106938648A (en) | The power downshift scaling method and system of double clutch gearbox | |
| JP2015526110A (en) | Automation and motion control system | |
| CN107108040B (en) | The control method and control system of electricity tune, flight controller and unmanned vehicle | |
| CN103663188B (en) | Luffing jib tower crane and operation control method, device and system thereof | |
| US11307572B2 (en) | Industrial vehicle remote operation system, communication device, industrial vehicle, and computer readable storage medium for storing industrial vehicle remote operation program | |
| CN105690389A (en) | Universal multi-degree-of-freedom robot test platform and control method | |
| CN105110191A (en) | Double-machine cooperative lifting control method and system | |
| CN110772784B (en) | Carrier control method and device, storage medium and electronic device | |
| CN103208213B (en) | Operation simulation virtual command device, system and method and engineering machinery | |
| CN103572967B (en) | Arm support control device, system and method and engineering machinery | |
| CN107364796A (en) | The control method and device of tower crane | |
| CN112091974B (en) | Remote control operation system of distribution network live working robot and control method thereof | |
| CN110914019B (en) | Robot stopping distance simulation method | |
| JPWO2021177052A5 (en) | ||
| TWI721523B (en) | Training processing device, intermediate device, training system and training processing method | |
| CN109814095B (en) | Dynamic spatial position simulation method of multi-target infrared simulation system | |
| CN109343589A (en) | Rate smoothing method and device for robot | |
| JP2020527009A5 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |