CN106782022A - Six degree of freedom bank bridge counterweight simulator - Google Patents
Six degree of freedom bank bridge counterweight simulator Download PDFInfo
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- CN106782022A CN106782022A CN201710108143.8A CN201710108143A CN106782022A CN 106782022 A CN106782022 A CN 106782022A CN 201710108143 A CN201710108143 A CN 201710108143A CN 106782022 A CN106782022 A CN 106782022A
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- freedom
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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Abstract
The invention belongs to operation training field, more particularly to a kind of six degree of freedom bank bridge counterweight simulator.Including bridge operation system, signal acquiring system, PLC motion controllers logic control system, dynamics mathematical model, instructor console's system and virtual reality system；Instructor console's system is the effector of whole simulator, while the terminal that it is also data transfer can receive and transmit data；Signal acquiring system is used to gather the peration data of bridge operation system；PLC motion controllers logic control system simulates the electric parameter index in real work according to peration data；Dynamics mathematical model simulates the various physical characteristic parameters of crane according to peration data；Virtual reality system is used to provide operator reality environment.Its advantage is：The present invention takes the advanced system integration, realizes the system integration of machine-electrical integrated, allows trainer to carry out crane technical ability efficient training under the simulated environment of height emulation.
Description
Technical field
The invention belongs to operation training field, more particularly to a kind of six degree of freedom bank bridge counterweight simulator.
Background technology
At present, just there is important technical change in educational training field, be mainly manifested in traditional education training resource to existing
For the transformation of educational training resource.And simulation technology singly plays significant central role at this.Port logistics this
In industry, crane is the capital equipment of handling goods, is also the equipment for easily going out security incident.General counterweight simulator
With training station (excitation system, cab system), instructor station's (coach's system, monitoring system) and simulation model (vision system
System, sound system) 3 parts, it is typical HWIL simulation training aids, to configure electric-control system, whole teaching simulation system group
Into more complicated, simulating sports effect is not ideal enough, and virtual environment is also not good enough, and price is high, failure is more, reliability is low, lacks
Promotional value.In general, there are problems in crane training simulator now, and such as function is integrated low, simulating sports
Effect is not ideal enough, and visual effect is not ideal enough, and the property immersed is relatively low, the shortcomings of dynamic analog effect is not true enough.
The content of the invention
It is an object of the invention to be directed to above-mentioned the deficiencies in the prior art, there is provided a kind of six degree of freedom bank bridge crane simulation
Device, can allow trainer that the efficient training of crane technical ability is carried out under the simulated environment of height emulation.
The technical solution adopted in the present invention is as follows：
A kind of six degree of freedom bank bridge counterweight simulator：Including bridge operation system, signal acquiring system, PLC motions
Controller logic control system, dynamics mathematical model, instructor console's system and virtual reality system；
Instructor console's system is the effector of whole simulator, and the running of various pieces can be ordered by it by sending
Make data to control, while the terminal that it is also data transfer can receive and transmit data；
The signal acquiring system is used to gather the peration data of bridge operation system；
The PLC motion controllers logic control system is simulated the electric parameter in real work and is referred to according to peration data
Mark；
The dynamics mathematical model simulates the various physical characteristic parameters of crane according to peration data；
The virtual reality system is used to provide operator reality environment；The virtual reality system is included for real
The seat vibration control system of the visual system, the sound system of speech simulation and seat vibration simulation of existing image simulation.
On the basis of above-mentioned technical proposal, the present invention can also make following improvement：
Further, the seat vibration control system takes the full moving platform of six degree of freedom to emulate.
Further, also including finger-print recognising instrument, user is logged in by the finger-print recognising instrument.
Further, also including camera monitoring system, camera monitoring system is used for monitoring user operation.
Further, it is furnished with anaglyph spectacles in the bridge operation system.
Further, also including educational projector, the educational projector is used for teaching projection.
Compared with prior art, the advantages of the present invention are：
1st, the present invention takes the advanced system integration, appliance computer virtual technology, with reference to automatic measure control technology, in real time
Monitoring technology, data communication technology, realize the system integration of machine-electrical integrated, construct the emulation behaviour of international most advanced level
Vertical platform.
2nd, bridge operation system of the invention size as actual hoisting box, including seat, joint action table, door
Window, aisle etc., with the operation driving environment as reality, realize same function, there is provided complete real driving is grasped
Make environment.
3rd, the visual system of virtual reality system of the invention can provide the what comes into a driver's feeling of immersion of height, virtual reality system
Sound system can provide real acoustics, and the seat vibration control system of virtual reality system can provide real driver's cabin
Dynamic characteristic, under the support of 6-dof motion platform, the dynamic characteristic such as amplitude, frequency, direction of bridge operation system
It is consistent with corresponding actual crane；So energy altitude simulation actual environment, can experience real operating process, Ke Yiyou
Effect ground and the real environment of surrounding carry out interaction, and operator has sensation on the spot in person.
4th, instructor console's system of the invention is the effector of whole simulator, and the running of various pieces can be by it
Controlled by sending order data, while the terminal that it is also data transfer can receive and transmit data, overall structure
Clearly, data transfer is smooth, is easy to management of teachers, remote maintenance simulator, to student's operational administrative, such as set all kinds of parameters and
Test subject, sets failure examination point, real-time tracking training track, record training overall process and result examination, and can play back instruction
Practice process, it is possible to find action training and method etc. need to be improved.
Brief description of the drawings
Fig. 1 is the structural representation of the six degree of freedom bank bridge counterweight simulator described in one embodiment of the invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.According to claims and following
Explanation, advantages and features of the invention will become apparent from.It should be noted that, accompanying drawing is used in the form of simplifying very much and
Non- accurately ratio, is only used to conveniently, lucidly aid in illustrating the purpose of the embodiment of the present invention.
Embodiment
A kind of six degree of freedom bank bridge counterweight simulator, as shown in figure 1, including bridge operation system, signal acquisition system
System, PLC motion controllers logic control system, dynamics mathematical model, instructor console's system and virtual reality system；
Instructor console's system is the effector of whole simulator, and the running of various pieces can be ordered by it by sending
Make data to control, while the terminal that it is also data transfer can receive and transmit data；
The signal acquiring system is used to gather the peration data of bridge operation system；
The PLC motion controllers logic control system is simulated the electric parameter in real work and is referred to according to peration data
Mark；And electric parameter index can be reacted by indicator lamp system.
The dynamics mathematical model simulates the various physical characteristic parameters of crane according to peration data；Including being lifted,
Rock, collision etc., the lifting of each producer's model can be simulated by adjusting the parameters such as gravity, frictional force, speed, an assorted speed
Machine.
The virtual reality system is used to provide operator reality environment；The virtual reality system is included for real
The seat vibration control system of the visual system, the sound system of speech simulation and seat vibration simulation of existing image simulation.
Operator can realize three-dimensional imaging by visual system, greatly improve telepresenc, produce trainer
Sensation on the spot in person, the picture effect of co-occurrence full scale, the fidelity that improve.
Visual system can provide the what comes into a driver's feeling of immersion of height, surround with the scenic picture and large-scale projection screen of high-resolution and driven
Room operating system is sailed, there is the working scene picture of high-resolution at operator's normal observation visual angle, and picture has stereovision, and distant view is near
Scape is consistent with actually；
Sound system can provide real acoustics, can send the sound corresponding with actual scene and crane work
Ring, such as, special sound of blowing a whistle, machine roar of large vehicle walking etc. make driver have sensation on the spot in person；
Seat vibration control system can provide real driver's cabin dynamic characteristic.
Wherein, bridge operation system drives driver operation working interface using true harbour large scale equipment and prototype is emulated
Mode design and produce.Have in bridge operation system operations linkage platform, projection screen etc. for train operation.
Wherein, instructor console's system is controlled using advanced locomotory apparatus, and complete simulation presses 1：1 design is and true
Driving for equipment operates apparatus completely the same.Teacher or administrative staff can be set all kinds of parameters and examined with remote maintenance simulator
Examination subject, sets failure examination point, real-time tracking training track, record training overall process and result examination, and can play back training
Process, it is possible to find action training and method etc. need to be improved.
Instructor console's system can receive the data from grid, including the number from bridge operation system
According to, and virtual reality system is sent in real time to be driven by kinetic model.It receives the anti-of virtual reality system simultaneously
Feedforward information, and real-time feedback information and direct real-time control signal, to reach the purpose of control operation joint action table and motion platform.
Have in bridge operation system operations linkage platform, projection screen etc. for train operation.Signal acquiring system directly with console, fortune
Moving platform is connected, and while both control, receives their feedback of the information.
On the basis of above-mentioned technical proposal, the present invention can also make following improvement：
Further, the seat vibration control system takes the full moving platform of six degree of freedom to emulate.Whole seat completely with very
While real consistent, issuable each condition true love true feeling during practical operation is also add.In the branch of 6-dof motion platform
Under support, the dynamic characteristic such as amplitude, frequency, direction of bridge operation system is consistent with corresponding actual crane；Driver's cabin is grasped
Making overall system architecture can follow the driver behavior of operator to do the motion of different directions or rock, and operator has crane
Work the dynamic rolling for producing, sense of acceleration or brake feel.
Further, also including finger-print recognising instrument, user is logged in by the finger-print recognising instrument.
Further, also including camera monitoring system, camera monitoring system is used for monitoring user operation.
Further, the bridge operation system is furnished with anaglyph spectacles.Operator is used for coordinating visual system to use, and realizes
Three-dimensional imaging.
Further, also including educational projector, the educational projector is used for teaching projection.
Compared with prior art, the advantages of the present invention are：
1st, the present invention takes the advanced system integration.Appliance computer virtual technology, with reference to automatic measure control technology, in real time
Monitoring technology, data communication technology, realize the system integration of machine-electrical integrated, construct the emulation behaviour of international most advanced level
Vertical platform.
2nd, bridge operation system of the invention size as actual hoisting box, including seat, joint action table, door
Window, aisle etc., with the operation driving environment as reality, realize same function, there is provided complete real driving is grasped
Make environment.
3rd, the visual system of virtual reality system of the invention can provide the what comes into a driver's feeling of immersion of height, virtual reality system
Sound system can provide real acoustics, and the seat vibration control system of virtual reality system can provide real driver's cabin
Dynamic characteristic, under the support of 6-dof motion platform, the dynamic characteristic such as amplitude, frequency, direction of bridge operation system
It is consistent with corresponding actual crane；So energy altitude simulation actual environment, can experience real operating process, Ke Yiyou
Effect ground and the real environment of surrounding carry out interaction, and operator has sensation on the spot in person.
4th, instructor console's system of the invention is the effector of whole simulator, and the running of various pieces can be by it
Controlled by sending order data, while the terminal that it is also data transfer can receive and transmit data, overall structure
Clearly, data transfer is smooth, is easy to management of teachers, remote maintenance simulator, to student's operational administrative, such as set all kinds of parameters and
Test subject, sets failure examination point, real-time tracking training track, record training overall process and result examination, and can play back instruction
Practice process, it is possible to find action training and method etc. need to be improved.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.
For those skilled in the art, some improvement without departing from the principles of the present invention and
Retouching, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (6)
1. six degree of freedom bank bridge counterweight simulator, it is characterised in that：Including bridge operation system, signal acquiring system, PLC
Motion controller logic control system, dynamics mathematical model, instructor console's system and virtual reality system；
Instructor console's system is the effector of whole simulator, and the running of various pieces can be by it by sending command number
According to controlling, while the terminal that it is also data transfer can receive and transmit data；
The signal acquiring system is used to gather the peration data of bridge operation system；
The PLC motion controllers logic control system simulates the electric parameter index in real work according to peration data；
The dynamics mathematical model simulates the various physical characteristic parameters of crane according to peration data；
The virtual reality system is used to provide operator reality environment；The virtual reality system is included for realizing scheming
The seat vibration control system of visual system, the sound system of speech simulation and seat vibration simulation as simulation.
2. six degree of freedom bank bridge counterweight simulator according to claim 1, it is characterised in that：The seat vibration control
System takes the full moving platform of six degree of freedom to emulate.
3. six degree of freedom bank bridge counterweight simulator according to claim 1, it is characterised in that：Also include fingerprint recognition
Instrument, user is logged in by the finger-print recognising instrument.
4. six degree of freedom bank bridge counterweight simulator according to claim 1, it is characterised in that：Also include monitoring camera-shooting system
System, the camera monitoring system is used for monitoring user operation.
5. six degree of freedom bank bridge counterweight simulator according to claim 1, it is characterised in that：The bridge operation system
It is furnished with anaglyph spectacles in system.
6. six degree of freedom bank bridge counterweight simulator according to claim 1, it is characterised in that：Also include teaching projection
Instrument, the educational projector is used for teaching projection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108143.8A CN106782022A (en) | 2017-02-27 | 2017-02-27 | Six degree of freedom bank bridge counterweight simulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108143.8A CN106782022A (en) | 2017-02-27 | 2017-02-27 | Six degree of freedom bank bridge counterweight simulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106782022A true CN106782022A (en) | 2017-05-31 |
Family
ID=58960839
Family Applications (1)
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| CN201710108143.8A Pending CN106782022A (en) | 2017-02-27 | 2017-02-27 | Six degree of freedom bank bridge counterweight simulator |
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Cited By (10)
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|---|---|---|---|---|
| CN108495106A (en) * | 2018-04-19 | 2018-09-04 | 上海海事大学 | A kind of portal crane simulator visual scene system and its image processing method and system |
| CN108510831A (en) * | 2018-06-04 | 2018-09-07 | 上海振华重工(集团)股份有限公司 | Automate bridge crane remote operation simulator |
| CN108877379A (en) * | 2018-09-10 | 2018-11-23 | 苏州大成有方数据科技有限公司 | A kind of automatic control system of movable engineering simulator |
| CN109036087A (en) * | 2018-09-10 | 2018-12-18 | 苏州大成有方数据科技有限公司 | A kind of front handling mobile crane analog machine with 3-dimensional freedom platform |
| CN109087548A (en) * | 2018-09-10 | 2018-12-25 | 苏州大成有方数据科技有限公司 | A kind of front handling mobile crane simulator |
| CN109147454A (en) * | 2018-09-10 | 2019-01-04 | 苏州大成有方数据科技有限公司 | A kind of automatic control system of engineering simulator |
| CN110310537A (en) * | 2019-06-26 | 2019-10-08 | 中船黄埔文冲船舶有限公司 | A kind of gantry crane virtually lifts training system and Training Methodology |
| 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 |
| CN110570744A (en) * | 2018-06-06 | 2019-12-13 | 中国石油化工股份有限公司 | Interactive hoisting operation simulation safety training teaching system |
| CN110675682A (en) * | 2019-09-24 | 2020-01-10 | 中国安全生产科学研究院 | Simulation cooperative training equipment for emergency rescue |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108495106A (en) * | 2018-04-19 | 2018-09-04 | 上海海事大学 | A kind of portal crane simulator visual scene system and its image processing method and system |
| CN108510831A (en) * | 2018-06-04 | 2018-09-07 | 上海振华重工(集团)股份有限公司 | Automate bridge crane remote operation simulator |
| CN110570744A (en) * | 2018-06-06 | 2019-12-13 | 中国石油化工股份有限公司 | Interactive hoisting operation simulation safety training teaching system |
| CN108877379A (en) * | 2018-09-10 | 2018-11-23 | 苏州大成有方数据科技有限公司 | A kind of automatic control system of movable engineering simulator |
| CN109036087A (en) * | 2018-09-10 | 2018-12-18 | 苏州大成有方数据科技有限公司 | A kind of front handling mobile crane analog machine with 3-dimensional freedom platform |
| CN109087548A (en) * | 2018-09-10 | 2018-12-25 | 苏州大成有方数据科技有限公司 | A kind of front handling mobile crane simulator |
| CN109147454A (en) * | 2018-09-10 | 2019-01-04 | 苏州大成有方数据科技有限公司 | A kind of automatic control system of engineering simulator |
| CN110310537A (en) * | 2019-06-26 | 2019-10-08 | 中船黄埔文冲船舶有限公司 | A kind of gantry crane virtually lifts training system and Training Methodology |
| 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 |
| CN110675682A (en) * | 2019-09-24 | 2020-01-10 | 中国安全生产科学研究院 | Simulation cooperative training equipment for emergency rescue |
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Application publication date: 20170531 |