CN103867205B - A kind of development machine tele-control system and method - Google Patents
A kind of development machine tele-control system and method Download PDFInfo
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- CN103867205B CN103867205B CN201410086340.0A CN201410086340A CN103867205B CN 103867205 B CN103867205 B CN 103867205B CN 201410086340 A CN201410086340 A CN 201410086340A CN 103867205 B CN103867205 B CN 103867205B
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Abstract
The invention discloses a kind of development machine tele-control system and method.Described system comprises the sensor that development machine is installed, airborne detection system, on-board controller, data communication module, development machine remote monitoring platform, wherein development machine remote monitoring platform comprises the virtual operation bench of development machine, database, virtual reality system data-interface, development machine Controlling model module, development machine duty parameter monitoring modular, development machine virtual prototype platform.The invention solves underground coal mine development machine working environment dust large, noise is large, and operating personnel are difficult to grasp the concrete situation of excavated section, the control blindness that shortage development machine floor data and posture information cause, thus promotes tunnelling quality and safety.The present invention has good interactivity and the sense of reality, reasonable in design, practical, and application value is high.
Description
Technical field
The present invention relates to a kind of development machine tele-control system and method, especially relate to a kind of development machine tele-control system based on virtual reality technology and method.
Background technology
Virtual reality (VirtualReality) technology is a very active research and apply technology in recent years.Virtual reality technology application is more and more extensive, from military affairs to civil area, and existing many application systems, and Ying Jing plays an important role in multiple field.
In prior art, Chinese patent one " development machine long-distance monitoring method and system ", the patent No. is 201010274882.2, this art solutions passes through on-board controller, remote controllers, laser orientation instrument, laser pickoff, digital compass, wireless network, wireless relay, cable network, distributed sensor networks, wireless relay placing machine etc. completes remote real-time monitoring development machine tunneling process, duty and dynamic parameter, speed wireless data transfer, information, the work arranging and preserve.
Chinese patent one " tunneling machine practical training operation teaching and training method ", the patent No. is the patent of 201010163364.3, and this art solutions completes the pre-job training of trainee by computer, display, control button, joystick etc.
Chinese patent one " virtual construction system of full-face tunneling boring machine ", the patent No. is 201010241035.6, and this art solutions completes virtual experimental and training on operation by stereo projection system, maneuvering and control platform etc.
As can be seen from above patent, current development machine Long-distance Control method for supervising relies on work condition state, simple pose parameter decision-making, or simple two dimensional image display development machine work information, is difficult to meet the requirement to equipment control decision in tunneling process.In actual production, driving face dust is large, noise strong, and the sight line of operating personnel is limited, can not grasp the concrete situation of excavated section, is difficult to effectively carry out tunneling process correct decisions.The application of virtual reality technology in development machine is also only used in product introduction, virtual experimental or training.
By virtual reality, Real Time Communication Network and modern detecting, set up development machine virtual prototype and operating mode scene virtual scene, three-dimensional prototype technique is utilized to reproduce development machine operating mode and the position orientation relation of tunneling process, be aided with proprietary physical impacts model, for driving provides Long-distance Control decision support intuitively, realize automation and the intellectuality of tunneling process, for realizing the certain basis of the few people of shaft production, even unmanned qualification.
Summary of the invention
The object of this invention is to provide a kind of development machine tele-control system and method, solve underground coal mine development machine working environment dust large, noise is large, and operating personnel are difficult to grasp the concrete situation of excavated section, the control blindness that shortage development machine floor data and positional information cause, thus promote tunnelling quality and safety.The present invention has good interactivity and the sense of reality, reasonable in design, practical, and application value is high.
Technical scheme of the present invention is: a kind of development machine tele-control system, described system comprises the sensor that development machine is installed, airborne detection system, on-board controller, data communication module, development machine remote monitoring platform, and wherein development machine remote monitoring platform comprises the virtual operation bench of development machine, database, virtual reality system data-interface, development machine Controlling model module, development machine duty parameter monitoring modular, development machine virtual prototype platform;
Described sensor comprises operating mode sensor and Position and attitude sensor.Operating mode sensor comprises temperature pick up and (is arranged in electric control box, detect the temperature of electric control box temperature), vibrating sensor (is arranged on development machine road heading machinery position, detect fuselage driveline vibrations), pressure sensor (is arranged on equipment car body, detect atmospheric pressure), voltage, current sensor (being arranged on system driving circuit part, the voltage and current of testing circuit);
Position and attitude sensor comprises displacement transducer and (is arranged in cutterhead telescopic oil cylinder, measure the stroke of cutterhead, in order to determine cutterhead current position coordinates), three-axis gyroscope (can measure the displacement of development machine vehicle body in inertial space absolute coordinate system, as the information of advancing with retreat, also the angle of car body and inertial space absolute coordinate system three axle can be measured, as vehicle body attitude information);
Airborne detection system for gathering Position and attitude sensor and operating mode sensing data that development machine is installed, and passes to on-board controller;
On-board controller completes that development machine this locality controls, the pretreatment of development machine critical piece duty parameter and feature extraction;
Data communication module is made up of on-board controller communication module, fieldbus or Industrial Ethernet, completes development machine duty parameter and the transmission of control instruction between controller.
The virtual operation bench of development machine is converted by development machine controller, controls true development machine and virtual prototype for sending manipulation instruction.
Database is MYSQL database, completes the storage update of development machine duty parameter and duty image data;
Virtual reality system data-interface is the virtual prototype data-interface of C++ exploitation, completes multi-channel data acquisition board control, MySQL database read-write and each channel data of Quest3D and upgrades;
Development machine Controlling model module is made up of location model of starting shooting, transport condition and track adjustment model, automatic section cut model (for rectangle, trapezoidal and Semicircular tunnel), completes development machine location, remote monitoring and automatic section cut;
Development machine duty parameter monitoring modular is used for the duty parameter collected and real-time the showing of pose parameter, the duty of reaction development machine and duty parameter;
Development machine virtual prototype platform is the development machine dummy emulation system based on Quest3D exploitation, completes development machine virtual prototype and operative scenario 3D presents, virtual prototype dynamic programming and development machine virtual controlling.
A kind of development machine long-range control method, it is characterized in that: the virtual operation bench sending controling instruction of development machine remote monitoring platform, a road control instruction issues on-board controller by data communication module, and on-board controller receives and controls development machine; Another road control instruction is sent in virtual prototype platform by virtual reality system data-interface and drives development machine virtual prototype and true development machine to be synchronized with the movement.The sensor operating mode of collection and pose parameter are passed to on-board controller by airborne detection system simultaneously, are uploaded to development machine remote monitoring platform after on-board controller carries out pretreatment by data communication module, and carry out filing storage by database form; Virtual prototype in virtual prototype platform is by the true development machine operating state data in virtual reality system data-interface reading data in real-time storehouse, revise the relevant parameter in development machine Controlling model module, real time correction is carried out to development machine virtual prototype duty, realizes the true reappearance of virtual prototype in development machine remote monitoring platform and true development machine duty.
Concrete control procedure is as follows:
The first step, complete the development and Design of development machine remote monitoring platform by Quest3D and C++ software, complete the roaming of the foundation of development machine geometrical model and scene, the various duty of real-time display development machine, develops virtual reality system data interface module and data communication module simultaneously;
Second step, on-board controller Real-time Collection pretreatment development machine duty parameter and pose parameter data, realize storage and the renewal of floor data;
3rd step, set up data communication between on-board controller and development machine remote monitoring platform, pretreated development machine duty parameter and pose parameter information are uploaded to development machine remote monitoring platform, adopt MySQL database to carry out filing, the storage of data;
4th step, to resolve and the development machine control instruction that sends of transfer of virtual operation bench by virtual reality system data-interface, realize the control of development machine virtual prototype on Quest3D platform;
5th step, development machine remote monitoring platform control true development machine by virtual operation bench and complete tunneling process control;
In 6th step, Quest3D platform, virtual prototype respective channel reads true development machine duty parameter and the posture information of MySQL database filing in real time, real time correction is carried out to the development machine virtual prototype pose in virtual prototype platform, duty parameter, ensures that virtual development machine reflects the validity of true development machine;
Finally, circulation performs second step to the 6th step, and the development machine duty parameter realized under different condition detects in real time, duty true reappearance and Long-distance Control.
Beneficial effect of the present invention
Due to such scheme, instruction is issued development machine and virtual prototype thereof by virtual operation bench simultaneously, resolves control instruction and pass to Quest3D platform respective channel by virtual reality system data-interface, realizes development machine virtual prototype binding action.Airborne detection system gathers development machine floor data simultaneously, and be transferred to on-board controller, through data processing and analysis, the database being finally transferred to development machine remote monitoring platform by data communication module is filed.Read the database in development machine remote monitoring platform, real-time update and information such as display development machine virtual prototype floor data and pose etc., ensure the uniformity of the virtual prototype Controlling model information in driving face development machine and development machine remote monitoring platform.
Compared with prior art, the present invention has following advantage:
1, the development machine duty parameter that the present invention utilizes airborne detection system to provide revises development machine virtual prototype Controlling model in real time, the reproductions directly perceived such as real-time development machine crawler travel, cutterhead lift rotary are flexible, star-wheel rotating, transporter rotating, rear support lifting.
2, according to the information such as development machine real-time working condition data and pose, operating personnel utilize virtual report control platform to realize development machine Long-distance Control, improve production environment.
3, the present invention establishes virtual prototype Controlling model module, visual control can be carried out to development machine on remote monitoring platform, solve underground coal mine development machine working environment dust large, noise is large, operating personnel are difficult to grasp the concrete situation of excavated section, the control blindness that shortage development machine floor data and positional information cause.
3, the present invention has the presence of good driving environment and good interactivity, makes operating personnel timely, intuitively can grasp development machine and working site spatial information, effectively improves tunnelling technical level and production security.
Accompanying drawing explanation
Fig. 1 is operating principle block diagram of the present invention.
Fig. 2 is the block diagram of system of the present invention.
Fig. 3 is development machine Controlling model module frame chart of the present invention.
Fig. 4 is virtual reality data Interface realization block diagram of the present invention.
Fig. 5 is that virtual platform of the present invention builds block diagram.
Detailed description of the invention
As shown in Figure 1, a kind of development machine tele-control system operating principle: first, a road control instruction issues on-board controller by data communication module, and on-board controller receives and controls development machine; Another road control instruction is sent in virtual prototype platform by virtual reality system data-interface and drives development machine virtual prototype and true development machine to be synchronized with the movement.Airborne detection system passes to on-board controller by gathering the development machine floor data come simultaneously, and the database by data communication module, development machine floor data being passed to the development machine remote monitoring platform of far-end by analysis after process is filed; Virtual prototype in development machine virtual prototype platform is by the true development machine operating state data in virtual reality system data-interface reading data in real-time storehouse, real time correction is carried out to development machine virtual prototype duty, realizes the true reappearance of virtual prototype in development machine remote monitoring platform and the information such as true development machine duty parameter and pose.
As shown in Figure 2, a kind of development machine tele-control system, virtual operation bench in development machine remote monitoring platform sends control instruction, the control signals such as handle that development machine remote monitoring platform is installed or rocking bar are gathered by multi-channel data acquisition board, one tunnel control instruction issues on-board controller by data communication module, and on-board controller receives and controls development machine; Another road control instruction is sent to the development machine virtual prototype platform based on Quest3D by virtual reality data interface, drives development machine virtual prototype and true development machine to be synchronized with the movement.Airborne detection system gathers development machine sensing data simultaneously, and pass to on-board controller, after analyzing pretreatment, through data communication module, Detection Information characteristic value is transferred to the development machine remote monitoring platform of far-end, by MySQL database, each sensor characteristics Value Data is filed; The duty parameter of MySQL database is presented in virtual prototype platform by virtual reality system data-interface by development machine duty parameter monitoring modular, completes the monitoring to development machine duty parameter and duty; Simultaneously, run virtual prototype Controlling model module, the true development machine data of filing in real-time reading MySQL database, and the parameter such as pose, operating mode of development machine Controlling model is revised with this, development machine virtual prototype duty is revised in real time, realizes the true reappearance of virtual prototype in development machine remote monitoring platform and the information such as true development machine duty parameter and pose.
Corresponding sensor is selected in conjunction with development machine virtual controlling demand.Sensor can be divided into operating mode sensor and Position and attitude sensor.Operating mode sensor comprises temperature pick up and (is arranged in electric control box, detect the temperature of electric control box temperature), vibrating sensor (is arranged on development machine road heading machinery position, detect fuselage driveline vibrations), pressure sensor (is arranged on equipment car body, detect atmospheric pressure), voltage, current sensor (being arranged on system driving circuit part, the voltage and current of testing circuit).
Position and attitude sensor comprises displacement transducer and (is arranged in cutterhead telescopic oil cylinder, measure the stroke of cutterhead, in order to determine cutterhead current position coordinates), three-axis gyroscope (can measure the displacement of development machine vehicle body in inertial space absolute coordinate system, as the information of advancing with retreat, also the angle of car body and inertial space absolute coordinate system three axle can be measured, as vehicle body attitude information).
As shown in Figure 3, development machine Controlling model module of the present invention is made up of location model of starting shooting, transport condition and track adjustment model, automatic section cut model (for rectangle, trapezoidal and Semicircular tunnel), completes development machine location, remote monitoring and automatic section cut; The multiple displacement transducer install machine body of boring machine, cutterhead part and three-axis gyroscope Data Fusion, complete development machine location, remote monitoring and automatic section cut, determine development machine duty.
Start location model initializes system, and setting inertial coodinate system initial point, carries out modeling by driving task according to information such as preliminary geology, and be coupled to inertial coodinate system with mesh point coordinate form.
Transport condition and track adjustment model are by calling displacement and gyro data, calculate development machine driving speed (or displacement) and pose angle, compare with the development machine controling parameters planned in advance, according to the control of comparative result decision-making development machine, reach the target of development machine motion control and track adjustment.
Automatic section cut model, according to roadway shape dimensional requirement, forms grid node in inertial coodinate system, and the fuselage calculated when development machine completes grid node position laneway molding driving and cutterhead kinematic parameter, as the control instruction of virtual development machine.
As shown in Figure 4, virtual reality system data-interface of the present invention is: utilize multi-channel data acquisition board api interface function with DLL function, MySQL database, realize button or handle state acquisition and parsing, and set up and store instructions parse result to virtual operation bench MySQL database respective field.MySQL database interface channel special in Quest3D platform realizes calling of image data, and command adapted thereto is carried out action binding with corresponding virtual prototype, achieves virtual prototype action control.
As shown in Figure 5, the building method of development machine remote monitoring platform: first, sets up threedimensional model, according to relevant regulations and general arrangement demand, completes the modeling of 3D modeling and virtual scene in modeling software MAYA according to development machine model.Institute's established model, based on true subsurface environment, for guaranteeing the necessary accuracy of model and fidelity, by adding the channel group of difference in functionality, sets up light, pinup picture and video camera in scene.Then carry out model dynamic programming, model is imported Quest3D and assembles, by Quest3D interior optimization Channel engine, emulation is optimized.Finally complete function at the floor data of real-time calling database to build.
It should be noted that: the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment to invention has been detailed description, for a person skilled in the art, it still can be modified to the technical scheme described in previous examples, or replaces on an equal basis wherein portion of techniques feature.
Within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. a development machine tele-control system, it is characterized in that: described system comprises the sensor that development machine is installed, airborne detection system, on-board controller, data communication module, development machine remote monitoring platform, wherein development machine remote monitoring platform comprises the virtual operation bench of development machine, database, virtual reality system data-interface, development machine Controlling model module, development machine duty parameter monitoring modular, development machine virtual prototype platform;
Described sensor comprises operating mode sensor and Position and attitude sensor; Operating mode sensor comprises temperature pick up, vibrating sensor, pressure sensor, voltage, current sensor; Position and attitude sensor comprises displacement transducer, three-axis gyroscope;
Described airborne detection system for gathering Position and attitude sensor and operating mode sensing data that development machine is installed, and passes to on-board controller;
Described on-board controller completes that development machine this locality controls, the pretreatment of development machine critical piece duty parameter and feature extraction;
Described data communication module is made up of on-board controller communication module, fieldbus or Industrial Ethernet, completes development machine duty parameter and the transmission of control instruction between controller;
The virtual operation bench of described development machine, for sending manipulation instruction, controls true development machine and virtual prototype;
Described database is MySQL database, completes the storage update of development machine duty parameter and duty image data;
Described virtual reality data interface is the virtual prototype data-interface of C++ exploitation, completes multi-channel data acquisition board control, MySQL database read-write and each channel data of Quest3D and upgrades;
Described development machine Controlling model module is made up of location model of starting shooting, transport condition and track adjustment model, automatic section cut model, completes development machine location, remote monitoring and automatic section cut;
Location model of wherein starting shooting initializes system, and setting inertial coodinate system initial point, carries out modeling by driving task according to preliminary information, and be coupled to inertial coodinate system with mesh point coordinate form; Preliminary information comprises geological information;
Transport condition and track adjustment model are by calling displacement and gyro data, calculate development machine driving speed and pose angle, or driving displacement and pose angle, compare with the development machine controling parameters planned in advance, according to the control of comparative result decision-making development machine, reach the target of development machine motion control and track adjustment;
Automatic section cut model, according to roadway shape dimensional requirement, forms grid node in inertial coodinate system, and the fuselage calculated when development machine completes grid node position laneway molding driving and cutterhead kinematic parameter, as the control instruction of virtual development machine;
Described development machine duty parameter monitoring modular is used for the duty parameter that collected by sensor and real-time the showing of pose parameter, the duty of reaction development machine and duty parameter;
Described development machine virtual prototype platform is the development machine dummy emulation system based on Quest3D exploitation, completes development machine virtual prototype and operative scenario 3D presents, virtual prototype dynamic programming and development machine virtual controlling.
2. the control method of development machine tele-control system as claimed in claim 1, it is characterized in that: the virtual operation bench sending controling instruction of development machine remote monitoring platform, one tunnel control instruction issues on-board controller by data communication module, and on-board controller receives and controls development machine; Another road control instruction is sent in virtual prototype platform by virtual reality system data-interface and drives development machine virtual prototype and true development machine to be synchronized with the movement; The sensor operating mode of collection and pose parameter are passed to on-board controller by airborne detection system simultaneously, are uploaded to development machine remote monitoring platform after on-board controller carries out pretreatment by data communication module, and carry out filing storage with database form; Virtual prototype in development machine virtual prototype platform is by the true development machine operating state data in virtual reality system data-interface reading data in real-time storehouse, revise the relevant parameter in development machine Controlling model module, real time correction is carried out to development machine virtual prototype duty, realizes the true reappearance of virtual prototype in development machine remote monitoring platform and true development machine duty.
3. the control method of a kind of development machine tele-control system as claimed in claim 2, it is characterized in that: virtual reality system data-interface be utilize multi-channel data acquisition board api interface function with DLL function, MySQL database, realize collection and the parsing of the virtual operation bench button of development machine or handle state, and set up and store instructions parse result to MySQL database respective field; In Quest3D platform, utilize MySQL database interface channel to realize calling of image data, command adapted thereto is carried out action binding with corresponding virtual prototype, realize virtual prototype action control.
4. the control method of a kind of development machine tele-control system as claimed in claim 2, is characterized in that:
The first step, complete the development and Design of development machine remote monitoring platform by Quest3D and C++ software, complete the roaming of the foundation of development machine geometrical model and scene, the various duty of real-time display development machine, develops virtual reality system data-interface and data communication module simultaneously;
Second step, on-board controller Real-time Collection pretreatment development machine duty parameter and pose parameter data, realize storage and the renewal of floor data;
3rd step, set up data communication between on-board controller and development machine remote monitoring platform, pretreated development machine duty parameter and pose parameter information are uploaded to development machine remote monitoring platform, adopt MySQL database to carry out filing, the storage of data;
4th step, to resolve and the development machine control instruction that sends of transfer of virtual operation bench by virtual reality system data-interface, realize the control of development machine virtual prototype on Quest3D platform;
5th step, development machine remote monitoring platform control true development machine by virtual operation bench and complete tunneling process control;
In 6th step, Quest3D platform, virtual prototype respective channel reads true development machine duty parameter and the posture information of MySQL database filing in real time, real time correction is carried out to the development machine virtual prototype pose in virtual prototype platform, duty parameter, ensures that virtual development machine reflects the validity of true development machine;
Finally, circulation performs second step to the 6th step, and the development machine duty parameter realized under different condition detects in real time, duty true reappearance and Long-distance Control.
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