CN113076073A - Pose display method and device for working machine and electronic equipment - Google Patents
Pose display method and device for working machine and electronic equipment Download PDFInfo
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Abstract
The invention provides a pose display method and device of a working machine and electronic equipment, wherein the working machine comprises a plurality of actuating mechanisms which can move relatively; the display method comprises the following steps: acquiring working parameters of the plurality of actuating mechanisms; storing the working parameters; receiving a first input of a user; determining a target operating parameter from the stored operating parameters in response to the first input; determining a target attitude image based on the target working parameters; and displaying the target posture image. According to the display method, the target attitude image is generated and displayed based on the working parameters, and is used for tracing the faults of the operation machinery, so that the fault diagnosis efficiency is obviously improved, and the man-machine interaction and the use flexibility are improved.
Description
Technical Field
The invention relates to the technical field of working machines, in particular to a pose display method and device of a working machine and electronic equipment.
Background
The large-scale operation machinery is often used in the building construction, the occasion of rescue and relief work, etc., it has variable structure, variable load, the position of mass center changes and characteristic such as being in the non-structural topography at random, and easy accident appears, therefore, it is necessary to strengthen the monitoring to the present and historical working performance of the apparatus, improve the man-machine interaction performance of the apparatus. In the prior art, image information of the operation machine is generally acquired by a camera device so as to monitor the operation machine in real time, the man-machine interaction performance is poor, and historical faults cannot be traced.
Disclosure of Invention
The invention provides a pose display method and device of a working machine and electronic equipment, which are used for solving the defect of low fault detection efficiency of the working machine in the prior art and realizing efficient fault detection.
The invention provides a pose display method of a working machine, wherein the working machine comprises a plurality of executing mechanisms which can move relatively; the method comprises the following steps:
acquiring working parameters of the plurality of actuating mechanisms;
storing the working parameters;
receiving a first input of a user;
determining a target operating parameter from the stored operating parameters in response to the first input;
determining a target attitude image based on the target working parameters;
and displaying the target posture image.
According to the pose display method of the working machine provided by the invention, after the working parameters of the plurality of execution mechanisms are obtained, the method further comprises the following steps:
comparing the working parameters with preset working parameters to obtain a first comparison result;
obtaining a first exception worksheet based on the first comparison result, wherein the first exception worksheet comprises: abnormal time, abnormal execution mechanism and abnormal condition;
storing the first abnormal worksheet;
said determining a target operating parameter from said stored operating parameters in response to said first input comprises: determining the target operating parameters and a target first exception worksheet from the stored operating parameters and first exception worksheets in response to the first input;
the displaying the target pose image comprises: and displaying an abnormal execution mechanism image on the target posture image based on the target first abnormal worksheet, and outputting prompt information.
According to the pose display method of the working machine provided by the invention, after the target working parameters are determined, the method further comprises the following steps:
comparing the target working parameter with a preset working parameter to obtain a second comparison result;
obtaining a second exception worksheet based on the second comparison, wherein the second exception worksheet comprises: abnormal time, abnormal execution mechanism and abnormal condition;
the displaying the target pose image comprises: and displaying an abnormal execution mechanism image on the target posture image based on the second abnormal working table, and outputting prompt information.
According to the pose display method of the working machine provided by the invention, after the working parameters of the plurality of execution mechanisms are obtained, the method further comprises the following steps:
generating a real-time attitude image of the work machine based on the working parameters;
and displaying the real-time attitude image of the working machine in real time.
According to the present invention, a method for displaying a pose of a work machine further includes:
receiving a second input of the user;
generating a simulated pose image of the work machine in response to the second input.
According to the pose display method of the working machine provided by the invention, the first input is used for inputting the target time period or the target moment.
According to the pose display method of the working machine provided by the invention, the determining of the target pose image based on the target working parameters comprises the following steps:
performing data preprocessing on the target working parameters to obtain first attitude characteristics;
converting the first attitude characteristic into a horizontal angle to obtain a target attitude characteristic;
and fusing the target attitude characteristics to generate the attitude image of the working machine.
According to the pose display method of the working machine provided by the invention, the storing of the working parameters comprises the following steps: storing the working parameters and labels corresponding to the working parameters;
the receiving a first input of a user comprises: receiving a first input of a target control by a user, wherein the target control corresponds to the label.
According to the pose display method of the working machine, the working machine comprises a pump truck; the acquiring of the working parameters of the plurality of actuators includes:
and acquiring at least two working parameters of the turret angle, the angle of each supporting leg, the angle of each arm support, the reversing times and the displacement of the oil cylinder of the plurality of actuating mechanisms.
According to the pose display method of the work machine provided by the present invention, after the target pose image is displayed, the method further includes:
based on the target attitude image, fault information is determined.
The invention also provides a pose display device of the working machine, wherein the working machine comprises a plurality of actuating mechanisms which can move relatively; the device comprises:
the first receiving module is used for acquiring working parameters of the plurality of executing mechanisms;
the storage module is used for storing the working parameters;
the second receiving module is used for receiving a first input of a user;
a first processing module for determining a target operating parameter from the stored operating parameters in response to the first input;
the second processing module is used for determining a target attitude image based on the target working parameters;
and the display module is used for displaying the target posture image.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the pose display method of the working machine.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of the posture presenting method of a work machine as described in any one of the above.
According to the method and the device for displaying the pose of the working machine and the electronic equipment, the target pose image is generated and displayed based on the working parameters, the target pose image is used for tracing the fault of the working machine, the fault diagnosis efficiency is obviously improved, and the man-machine interaction and the use flexibility are improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart illustrating a posture displaying method of a working machine according to some embodiments of the present invention;
fig. 2 is a second flowchart of a pose display method for a working machine according to some embodiments of the present invention;
fig. 3 is a third flowchart of a pose display method of a work machine according to some embodiments of the present invention;
fig. 4 is a schematic structural view of a posture display device of a working machine according to some embodiments of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to some embodiments of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes a posture displaying method of a working machine of the present invention with reference to fig. 1 to 3.
The execution main body of the pose display method of the operation machine can be a controller, a control device and a server, or a terminal of a user, and the terminal can be a mobile phone or a computer of the user.
The work machine includes a plurality of actuators that are relatively movable;
the actuators can move relatively, such as relatively rotating, relatively moving, or relatively sliding.
In some embodiments, the work machine may be: tower cranes, truck cranes, excavators, pile drivers, concrete machines, road rollers, mixer trucks, excavators, pump trucks, fire trucks, and other work machines.
As shown in fig. 1, the posture display method for a working machine includes: step 110, step 120, step 130, step 140, step 150 and step 160.
110, acquiring working parameters of a plurality of actuating mechanisms;
the working parameters are working condition data of each actuating mechanism of the operation machine and are used for representing the working state of each actuating mechanism of the operation machine;
the number of the kinds of the operating parameters may be one or more, for example, the number of the kinds of the operating parameters may be 1, or the number of the kinds of the operating parameters may be 5, or the number of the kinds of the operating parameters may be 8, and so on.
The working parameters can be collected by a sensor such as an angle sensor or a displacement sensor; or the working parameters can be collected through a counter and the like.
In some embodiments, the work machine may be a pump truck;
according to this embodiment, when the working machine is a pump truck, the pump truck includes: the device comprises a chassis mechanism, an arm support mechanism and a pumping mechanism;
and acquiring at least two working parameters of the turret angle, the angle of each supporting leg, the angle of each arm support, the reversing times and the displacement of the oil cylinder of the plurality of actuating mechanisms.
For example, three working parameters such as turret angles of a plurality of actuating mechanisms, angles of all supporting legs and angles of all sections of arm supports can be obtained; or all working parameters of the multiple actuating mechanisms, such as turret angles, angles of all supporting legs, angles of all sections of arm frames, reversing times, displacement of the oil cylinders and the like, can be acquired.
The working parameters such as the turret angle, the angles of the supporting legs and the angles of the arm frames can be acquired through the angle sensors, the working parameters such as the reversing times can be acquired through the counter, and the working parameters such as the displacement of the oil cylinder can be acquired through the displacement sensors.
In other embodiments, the work machine may be: other work machines such as excavators, cranes, or pile drivers; furthermore, it is possible to provide a liquid crystal display device,
different working machines correspond to different working parameters, and during actual operation, the corresponding working parameters can be selected based on actual requirements of users to determine the most suitable working parameters, which is not limited in the invention.
In this step, the accuracy of the analysis results may be improved by obtaining at least two operating parameters of the work machine for subsequent data analysis.
In other embodiments, after acquiring the operating parameters of the plurality of actuators in step 110, the method for displaying the pose of the work machine further includes:
comparing the working parameters with preset abnormal working table working parameters to obtain a first comparison result;
obtaining a first exception worksheet based on the first comparison result, wherein the first exception worksheet comprises: abnormal time, abnormal execution mechanism and abnormal condition;
a first exception worksheet is stored.
In this embodiment, the preset operating parameters are operating parameters corresponding to each actuator of the working machine at each time in a normal operating state.
By comparing the working parameters with preset working parameters, the executing mechanism with abnormal working parameters at the moment can be determined, and a first comparison result is generated;
and the first comparison result is used for representing whether each actuating mechanism of the working machine is abnormal or not.
The first abnormal operation table is an abnormal condition corresponding to an executing mechanism with an abnormality in the working machine at the moment corresponding to the operating parameter;
the first exception worksheet comprises: abnormal time, abnormal execution mechanism and abnormal condition;
the abnormal condition may be: abnormal pumping or internal unloading of the oil cylinder and the like.
After the first abnormal worksheet is obtained, the first abnormal worksheet can be stored in a local database or a cloud database and can be called at any time when needed.
Step 120, storing working parameters;
in the step, the collected working parameters can be transmitted to a local database or a cloud database for storage in a wired communication or wireless communication mode, so as to be called later.
As shown in fig. 2, in an actual implementation, steps 110 and 120 may be performed by a data transmission module, and a data storage module of the work machine;
the data transmission module is a terminal of the operation machine and is responsible for acquiring and transmitting working parameters of the operation machine to the data transmission module;
and the data transmission module stores the working parameters, sequentially stores the received working parameters and waits for the next module to pull. The data transmission module can be composed of a message queue component such as Kafka or RabbitMQ;
the data storage module is used for storing the working parameters for a long time.
In this step, by storing the operating parameters, the historical operating parameters of the work machine can be traced back, and the user can know the operating conditions of the work machine in the full life cycle, without being limited to the current real-time conditions of the work machine.
In other embodiments, step 120, storing the operating parameters, further comprises:
and storing the working parameters and the labels corresponding to the working parameters.
In this embodiment, each operating parameter corresponds to a label, for example:
when the working machine is a pump truck, under the condition that the working machine is in a pumping state, the label corresponding to the working parameter in the state is pumping; when the working machine is in a running state, the label corresponding to the working parameter in the running state is running; and under the condition that the operation machine is in a material waiting state, the label corresponding to the working parameter in the state is the material waiting state.
It should be noted that, in other embodiments, the tag may also be in other working states, and the present invention is not limited thereto.
in this step, the first input is operation information of the user, such as a screening operation, a search operation or a call operation;
wherein the first input may be expressed in at least one of the following ways:
first, the first input may be represented as a screen touch input, including but not limited to a click input, a slide input, a press input, and the like.
In this embodiment, receiving the first input of the user may be expressed as receiving the first input of the user in a display area of a display screen of the terminal.
In order to reduce the misoperation rate of the user, the action area of the first input can be limited to a specific area, such as the lower middle area of the display area of the terminal display screen; or the target control is displayed on the interface, and the first input can be realized by touching the target control.
Second, the first input may be represented as a physical key input.
Such as by setting physical keys such as a keyboard.
Third, the first input may be represented as a voice input.
In this embodiment, the terminal may generate a control instruction and transmit control instruction information to the controller when receiving a voice instruction of a user.
Fourth, the first input may appear as a text input.
In this embodiment, the receiving of the first input of the user may be represented as receiving text information input by the user in a display area of a display screen of the terminal, and performing semantic analysis on the terminal.
Of course, in other embodiments, the first input may also be expressed in other forms, which may be determined according to actual needs, and the embodiment of the present invention does not limit this.
In some embodiments, the first input is for inputting a target history period or a target history time.
In this embodiment, the target period is any period of time within the historical period of time;
the target period may include one period, or may include a plurality of periods;
the target time interval may be a continuous time interval or may also be a discontinuous time interval.
The target time is any time in the historical time period;
the target time may include one time or may include a plurality of times.
For example, a first input may be used to input "2020/01/01/0/00-2020/01/03/23/59"; alternatively, the first input may be used to input "2017/01-2017/02", "2018/01-2018/02", and "2019/01-2019/02";
alternatively, the first input may be used to input "2020/01/01/0/00".
In the step, by setting the first input, the user can input corresponding information according to the self requirement to obtain the required data, and the method has high flexibility and better man-machine interaction.
In other embodiments, receiving the first input by the user may be manifest as receiving the first input by the user to a target control, the target control corresponding to the label.
In the actual execution process, controls corresponding to the labels one to one can be respectively arranged on the display interface.
For example, when the operating machine is a pumping vehicle, the control corresponding to the pumping label may be set as the pumping time period, the control corresponding to the driving label may be set as the driving control time period, and the control corresponding to the material waiting label may be set as the material waiting time period.
Receiving a first input from a user may be embodied as receiving a user input to a target control of a pumping period, or receiving a user input to a target control of a driving period, or receiving a user input to a target control of a material handling period, or the like.
It should be noted that, in other embodiments, receiving the first input of the user may also be expressed as receiving the first input of the user to another target control.
the working parameters comprise historical working parameters corresponding to a plurality of execution mechanisms;
the target operating parameter is an operating parameter of the working machine at a time or in a time period required by the user, that is, an operating parameter of the working machine at a time or in a time period corresponding to the first input received in step 130;
based on the first input, a target operating parameter may be determined from the stored historical operating parameters.
the attitude image is an integral attitude image of the working machine and is used for representing the position attitude and the working state of the working machine at a certain time or a certain time period;
the target posture image is a posture image required by the user, namely a posture image of the working machine at the time or in the time period corresponding to the first input received in the step 130;
the target attitude image may be an attitude image of the corresponding working machine at a certain time, or may be an attitude image of the corresponding working machine within a certain time period;
in this step, the target pose image is determined based on the eligible target operating parameters from step 140.
For example, when the working machine is a pump truck, when the first input is a pumping period, the working parameter in the working state that the pump truck is in the pumping period in the database is called as the target working parameter in response to the first input;
respectively generating a first attitude image corresponding to each executing mechanism based on the target working parameters corresponding to each executing mechanism;
performing fusion processing on the first attitude images corresponding to the execution mechanisms to obtain a target attitude image of the operation machine;
in the step, the target working parameters are determined based on the first input, so that the flexibility of the screening process can be ensured, and accurate target attitude image positioning can be realized.
Research personnel discover in the research and development process, in the prior art, often adopt camera device to gather the image information of operation machinery in real time to carry out real time monitoring to the current operating condition of operation machinery, nevertheless can't trace back historical attitude image, and in case operation machinery breaks down, often need trace back historical attitude image, so influenced maintenance efficiency.
In the embodiment, the collected historical operating parameters are stored and can be called by a controller, a server or a terminal when needed.
Target working parameters are determined based on the working parameters stored in history, and target attitude images are determined based on the target working parameters, so that the tracking can be performed, a user is assisted in maintaining the operation machinery, and the maintenance efficiency is improved; and hardware such as a camera does not need to be additionally arranged, so that the cost can be reduced.
In some embodiments, the target pose image may also be sent by the controller to a local database for storage, or the target pose image may be sent by the controller to a cloud database for storage.
In other embodiments, step 150, determining a target operating parameter from the stored operating parameters in response to the first input, further comprises:
determining a target operating parameter and a target first exception worksheet from the stored operating parameters and first exception worksheets in response to the first input;
the target working parameters are working parameters of the working machine at the moment or in the time period required by a user;
the target first abnormal operation table is an abnormal operation table of the working machine corresponding to the target working parameter and is used for representing an abnormal condition corresponding to an abnormal execution mechanism in each execution mechanism of the working machine at the moment or in the time interval;
based on the first input, a target operating parameter and a target first exception worksheet may be determined from the stored historical operating parameters and first exception worksheets;
based on the first exception worksheet, an exception condition may be determined and used for subsequent fault display.
And step 160, displaying the target posture image.
In this step, the target posture image obtained based on step 150 is displayed for the user to refer to;
the number of the target posture images can be one, or the number of the target posture images can be multiple.
The display may be in at least one of the following ways:
for one, the display may appear as a local display screen display.
The display screen may be a display screen provided on the work machine for reference by an operator by displaying a target attitude image of the work machine.
And secondly, the display can be represented as a large-screen display of the monitoring center.
In the embodiment mode, after the first input is received, the target posture image is generated in response to the first input, and the target posture image is transmitted to a large screen which is in communication connection with a server or a terminal for display.
And thirdly, the display can be represented as a remote terminal display.
In this embodiment, the terminal may be a user's mobile phone, tablet or PC. And after receiving a first input of the user, responding to the first input, and displaying the target gesture image on the terminal.
By the embodiment, the user can trace back the historical working state of the job state at any time and any place without being limited by time and space.
Of course, in other embodiments, the display may be in other forms, which can be determined according to actual needs, and the embodiments of the present invention are not limited thereto.
In some embodiments, a target-pose image corresponding to a work machine may be displayed via a Web page.
In other embodiments, a plurality of Web pages can be simultaneously called out, and target posture images corresponding to a plurality of operation machines are simultaneously displayed, so that the working performance of the operation machines can be compared, and the analysis efficiency can be improved.
In this embodiment, by providing the function of comparing the operation of a plurality of working machines, the efficiency of analyzing problems by the research and development staff can be improved.
In other embodiments, step 160, displaying the target pose image, further comprises:
and displaying an abnormal execution mechanism image on the target posture image based on the target first abnormal working table, and outputting prompt information.
In the embodiment, a target posture image is displayed, the execution mechanism with the abnormity is highlighted, and meanwhile prompt information is output;
outputting the prompting message may be in the form of pulling out a label for prompting, or in the form of a lead add visual box.
The working parameters are compared with the preset working parameters to determine a first abnormal working table, and the executing mechanism with the abnormality is highlighted on the target posture image, so that the fault information of the working machine can be visually and clearly displayed.
According to the above embodiment, by acquiring a plurality of working parameters of the working machine for subsequent data analysis, the accuracy of the analysis result can be improved; by receiving the first input and responding to the first input, the target working parameters are determined, and a user can input corresponding information according to the self requirement to obtain required data, so that the flexibility is high, and the human-computer interaction is better; the target posture image is determined based on the target working parameters, and the single target posture image or the multiple target posture images are displayed, so that the method can be used for tracing the faults of the working machine, and meanwhile, the action comparison function of the multiple working machines is provided, and the fault diagnosis efficiency is obviously improved.
According to the method for displaying the pose of the working machine, the target pose image is generated and displayed based on the working parameters and is used for tracing the fault of the working machine, so that the fault diagnosis efficiency is obviously improved, and the man-machine interaction and the use flexibility are improved.
In some embodiments, after determining the target operating parameter in step 140, the method for displaying the pose of the work machine further includes:
comparing the target working parameter with a preset working parameter to obtain a second comparison result;
obtaining a second exception worksheet based on the second comparison, wherein the second exception worksheet comprises: abnormal time, abnormal execution mechanism and abnormal condition;
in this embodiment, the second comparison result is used to indicate whether each actuator of the work machine is abnormal or not within the time period or moment;
and after the second comparison result is obtained, generating a second abnormal operation table based on the second comparison result, wherein the second abnormal operation table is the abnormal operation table of the working machine corresponding to the target working parameter and is used for representing the abnormal condition corresponding to the abnormal execution mechanism in each execution mechanism of the working machine at the moment or in the time period.
displaying an abnormal execution mechanism image on the target posture image based on the second abnormal working table, and outputting prompt information
In this step, the execution mechanism in which the abnormality occurs in the work machine is specified by the second abnormality work table, and the abnormal execution mechanism image is displayed with emphasis on the target posture image while the prompt information is output.
The presentation information is used to present information relating to an actuator in which an abnormality has occurred in the work machine.
For example, when the work machine is a pump truck, the target operating parameters of the work machine in the time period a are obtained in response to the first input;
comparing the target working parameter with a preset working parameter, and determining a second comparison result under the condition that the target working parameter does not meet the preset working parameter;
generating a second exception worksheet based on the second comparison, the second exception worksheet comprising: information such as a time period, an execution mechanism with an abnormality, and an abnormal state;
generating a target attitude image based on the target working parameters;
and displaying the target posture image, determining an executing mechanism with abnormality based on the second abnormality worksheet, displaying the abnormal executing mechanism image, and outputting prompt information.
In some embodiments, displaying the abnormal actuator image and outputting the prompt message may be represented as: highlighting the abnormal execution mechanism, and pulling out the label for prompting.
According to the pose display method of the working machine, the target pose image is generated based on the working parameters, the working parameters are compared with the preset working parameters, the first abnormal working table is determined, the target pose image and the abnormal execution mechanism are displayed, and the fault information of the working machine can be visually and clearly displayed.
In some embodiments, step 150, determining the target pose image based on the target operating parameters, comprises:
carrying out data preprocessing on the target working parameters to obtain a first attitude characteristic;
converting the first attitude characteristic into a horizontal angle to obtain a target attitude characteristic;
and fusing the target attitude characteristics to generate a target attitude image of the working machine.
The first posture characteristic is data which are corresponding to each actuating mechanism and used for representing the working state.
Research and development personnel find that the data formats of the working parameters acquired by the sensors are different and are in different coordinate systems in the research and development process, so that the subsequent data analysis is influenced.
In this embodiment, first, data preprocessing is performed on the target working parameters obtained in step 140, including performing data cleaning on the target working parameters, and deleting missing data and invalid data therein to obtain a first posture characteristic;
the first posture characteristic is under different coordinate systems, then the coordinate system transformation is carried out on the first posture characteristic, and the first posture characteristic is transformed into a horizontal angle, so that a target posture characteristic is obtained;
the target posture characteristic is data which are used for representing the working state and correspond to each actuating mechanism under the horizontal angle;
then, fusing the target attitude characteristics to generate a target attitude image of the operation machine;
the target posture image is used for representing the working state of the whole working machine at a certain moment or a certain time period in history.
As shown in fig. 2, in an actual implementation, steps 150 and 160 may be performed by a data processing module, a data storage module, and a three-dimensional display module of the work machine;
the data processing module consumes the working parameters in the data transmission module, and performs data cleaning, data processing, data pushing and data storage on the working parameters to obtain the target posture characteristics. The data processing module is mainly composed of open-source components such as Spark, Flink, Storm and other distributed computing frameworks;
and the data storage module stores the target posture characteristics obtained after the data processing module processes the target posture characteristics and waits for the three-dimensional display module to pull the data. The data storage module consists of databases such as Mysql and the like;
and the three-dimensional display, namely a front-end Web page of the system, is pushed to the data storage module in a WebSocket mode, the three-dimensional display module responds to the first input, calls a target posture characteristic of the equipment from the data storage module, and draws a target posture image of the operation machine by adopting a WebGL technology based on the target posture characteristic.
In some embodiments, the work machine is a pump truck,
acquiring target operating parameters of a plurality of actuators based on the steps 110, 120, 130 and 140, wherein the target operating parameters include: "vehicle number": xxxxxx, "acquisition time": "2020-11-2700:00:55", angle of rotation ": 171.8, "1 arm angle": 66.4, "12 arm angle": 170.4, "23 arm angle": 162.8, "34 arm angle": 162.8, "45 arm angle": 162.8, "56 arm angle": 162.8;
based on step 150, performing data cleaning on the target working parameters to obtain a first posture feature, consuming the first posture feature in the json format, and converting the first posture feature into a horizontal angle to obtain a target posture feature, wherein the target posture feature includes:
"vehicle number": xxxxxx, "acquisition time": "2020-11-2700:00:55", "rotation angle": 171.8, "1 arm angle": 66.4, "12 arm angle": 45.6, "23 arm angle": 30.5, "34 arm angle": 48.9, "45 arm angle": -36.6, "56 arm angle": -2.3;
and then, pushing the target posture characteristics to a processor in a WebSocket mode for image characteristic fusion, and drawing the 3D action posture of the working machine by adopting a WebGL technology to generate a target posture image of the working machine.
In some embodiments, the target pose image may also be stored for later retrieval.
In other embodiments, the target operating parameter may be other parameters, such as target operating parameters including: the rotation angle is as follows: 161.8, "1 arm angle": 63.9, "12 arm angle": 155.3, "23 arm angle": 142.8, "34 arm angle": 171.5, "1 leg angle": 32.8, "2 leg angles": 62.8, "number of commutations": 3, "cylinder displacement": 20.
in other embodiments, the target pose image for the work machine may be generated in other ways, such as by using other drawing tools such as 3DMAX, PRO/E, or SolidWorks.
According to the pose display method of the working machine, provided by the embodiment of the invention, the target working parameters are subjected to data preprocessing, and the target pose image is generated based on at least two target working parameters, so that the accuracy of the result can be improved, and the accuracy of fault diagnosis of the working machine can be improved.
According to some embodiments of the present invention, as shown in fig. 3, after acquiring the operating parameters of the plurality of actuators in step 110, the method for displaying the pose of the work machine further includes:
generating a real-time attitude image of the work machine based on the working parameters;
a real-time attitude image of the work machine is displayed in real time.
In this embodiment, the real-time attitude image is an attitude image corresponding to the work machine at the current time, and is used to represent the working state of the work machine at the current time.
Wherein, the display can be represented in at least one of the following ways:
for one, the display may appear as a local display screen display.
The display screen may be a display screen provided on the work machine, and the operator may observe the attitude image of the work machine in real time by displaying the target attitude image of the work machine.
And secondly, the display can be represented as a large-screen display of the monitoring center.
In the embodiment mode, the real-time attitude image is generated based on the working parameters and is transmitted to a large screen which is in communication connection with a server or a terminal for displaying the real-time attitude image.
And thirdly, the display can be represented as a remote terminal display.
In this embodiment, the terminal may be a mobile phone, a tablet or a PC of the user, and the real-time gesture image is displayed on the terminal in real time.
By means of the embodiment, a user can monitor the current working state of the working machine at any time and any place without being limited by time and space.
Of course, in other embodiments, the display may be in other forms, which can be determined according to actual needs, and the embodiments of the present invention are not limited thereto.
It should be noted that, in this step, the number of real-time posture images displayed in real time may be one, or the number of real-time posture images displayed in real time may also be multiple.
For example, when the work machine is a pump truck, the current operating parameters collected by the sensors include: "vehicle number": xxxxxx, "acquisition time": "2020-11-2700:00:55", angle of rotation ": 171.8, "1 arm angle": 66.4, "12 arm angle": 170.4, "23 arm angle": 162.8, "34 arm angle": 162.8, "45 arm angle": 162.8, "56 arm angle": 162.8;
and performing data cleaning on the working parameters to obtain a first attitude characteristic, consuming the first attitude characteristic in the json format, and converting the data into a horizontal angle to obtain a target attitude characteristic of the working machine corresponding to the moment 2020-11-2700:00:55, wherein the target attitude characteristic comprises:
"vehicle number": xxxxxx, "acquisition time": "2020-11-2700:00:55", "rotation angle": 171.8, "1 arm angle": 66.4, "12 arm angle": 45.6, "23 arm angle": 30.5, "34 arm angle": 48.9, "45 arm angle": -36.6, "56 arm angle": -2.3;
then, pushing the target posture characteristics to a processor in a WebSocket mode for image characteristic fusion, drawing the 3D action posture of the operation machine by adopting a WebGL technology, and generating a real-time posture image of the operation machine at the current moment;
finally, the real-time attitude image is displayed in real time,
the real-time attitude image displayed at this time is the attitude image of the working machine corresponding to the moment 2020-11-2700:00: 55.
In some embodiments, a real-time pose image corresponding to a work machine may be displayed via a Web page;
in other embodiments, a plurality of Web pages can be simultaneously called out, and the real-time attitude images corresponding to a plurality of operating machines are simultaneously displayed, so that the working states of the operating machines can be monitored in real time and the working performance can be compared, and the monitoring efficiency can be improved.
Continuing to refer to fig. 3, in an actual execution process, the step may be executed by a three-dimensional display module of the working machine, for example, the three-dimensional display module directly retrieves the working parameters sent by the data processing module, and after receiving the data pushed by the WebSocket, the front-end Web page draws a real-time posture image of the working machine by using a WebGL technology;
meanwhile, the working parameters generated by the data processing module are stored through the data storage module.
According to the pose display method of the operation machine, the real-time pose image is generated based on the working parameters and is displayed, so that the working state of the operation machine can be monitored in real time, problems can be found in time, and the operation progress is prevented from being influenced due to the fact that the operation machine breaks down.
According to some embodiments of the present invention, after displaying the target posture image at step 160, the method for presenting the posture of the work machine further includes:
based on the target pose image, fault information is determined.
In this embodiment, the fault information may be real-time fault information of the work machine at the current time, or the fault information may also be fault information corresponding to the work machine at a certain historical time or a certain period of time.
By comparing the target attitude image with the attitude image of the work machine in the normal operating state, it is possible to determine the failure information of the work machine.
According to the method for displaying the pose of the working machine, provided by the embodiment of the invention, the fault information is determined based on the target pose image and is used for assisting a user in diagnosing and maintaining the fault of the working machine, so that the diagnosis efficiency of the working machine is obviously improved, and the man-machine interaction is improved.
In some embodiments, the pose display method for a work machine further includes:
receiving a second input of the user;
in response to the second input, a simulated pose image of the work machine is generated.
In this embodiment, the second input is a command for a user to operate the work machine.
Wherein the second input may be expressed in at least one of the following ways:
first, the second input may be represented as an operating handle input.
For example, an operating handle for controlling the movement of each actuator of the virtual working machine is designed for the working machine, the operating handle is used for users to freely operate each actuator, and the operating handle can be arranged independently or arranged on the working machine.
The number of degrees of freedom of the operation handle is the same as the number of actuators of the working machine.
In the actual execution process, the step can be realized through a three-dimensional display module on the working machine, for example, an operating rod capable of operating the movement of the working machine is arranged on a display interface of the three-dimensional display module, and a user can realize the function of self-defining simulation by adjusting the operating rod of the three-dimensional display module to operate the action of the working machine, so that the man-machine interaction is enhanced.
Second, the second input may be represented as a screen touch input, including but not limited to a click input, a slide input, a press input, and the like.
In this embodiment, receiving the second input of the user may be expressed as receiving the second input of the user in a display area of a display screen of the terminal.
In order to reduce the misoperation rate of the user, the action area of the second input can be limited to a specific area, such as the lower middle area of the display area of the terminal display screen; or the target control is displayed on the interface, and the second input can be realized by touching the target control.
Third, the second input may be presented as a voice input.
In this embodiment, the terminal may transmit control instruction information to the controller when receiving the voice.
Fourth, the second input may appear as a text input.
In this embodiment, the receiving of the second input of the user may be represented by receiving text information input by the user in a display area of a display screen of the terminal, and performing semantic analysis on the terminal.
Of course, in other embodiments, the second input may also be represented in other forms, which may be determined according to actual needs, and the embodiment of the present invention does not limit this.
After receiving a second input by the user, a simulated pose image of the work machine is generated in response to the second input.
In the step, a virtual model of the working machine is generated firstly, a control instruction is generated based on the second input in response to the second input, and the virtual model is controlled to dynamically change based on the control instruction, so that custom simulation is realized, and the flexibility of research and development is improved.
According to the method for displaying the pose of the working machine, provided by the embodiment of the invention, the virtual model of the working machine is dynamically controlled in response to the second input, so that user-defined simulation can be realized, the method is used for assisting the diagnosis of the fault of the working machine and the verification of the parameter performance, and the maintenance efficiency is improved.
The following describes the working machine posture displaying apparatus according to the present invention with reference to fig. 4, and the working machine posture displaying apparatus described below and the working machine posture displaying method described above may be referred to in correspondence with each other.
In some embodiments, a work machine includes multiple actuators that are relatively movable.
As shown in fig. 4, in some embodiments, the posture exhibiting apparatus of a work machine includes: a first receiving module 410, a storage module 420, a second receiving module 430, a first processing module 440, a second processing module 450, and a display module 460.
A first receiving module 410, configured to obtain operating parameters of a plurality of actuators;
a storage module 420 for storing the working parameters;
a second receiving module 430, configured to receive a first input of a user;
a first processing module 440 for determining a target operating parameter from the stored operating parameters in response to a first input;
the second processing module 450 is configured to determine a target attitude image based on the target working parameter;
and a display module 460, configured to display the target pose image.
In some embodiments, after obtaining the operating parameters of the plurality of actuators, the apparatus is further configured to:
comparing the working parameters with preset working parameters to obtain a first comparison result;
obtaining a first exception worksheet based on the first comparison result, wherein the first exception worksheet comprises: abnormal time, abnormal execution mechanism and abnormal condition;
storing a first abnormal worksheet;
determining a target operating parameter and a target first exception worksheet from the stored operating parameters and first exception worksheets in response to the first input;
and displaying an abnormal execution mechanism image on the target posture image based on the target first abnormal working table, and outputting prompt information.
In some embodiments, after determining the target operating parameter, the apparatus is further configured to:
comparing the target working parameter with a preset working parameter to obtain a second comparison result;
obtaining a second exception worksheet based on the second comparison, wherein the second exception worksheet comprises: abnormal time, abnormal execution mechanism and abnormal condition;
and displaying an abnormal execution mechanism image on the target posture image based on the second abnormal working table, and outputting prompt information.
In some embodiments, after acquiring the operating parameters of the plurality of actuators, the pose display apparatus of the work machine is further configured to:
generating a real-time attitude image of the work machine based on the working parameters;
a real-time attitude image of the work machine is displayed in real time.
Receiving a second input of the user;
in response to the second input, a simulated pose image of the work machine is generated.
In some embodiments, the first input is for inputting a target time period or a target time instant.
In some embodiments, the second processing module 450 is further configured to:
carrying out data preprocessing on the target working parameters to obtain a first attitude characteristic;
converting the first attitude characteristic into a horizontal angle to obtain a target attitude characteristic;
and fusing the target attitude characteristics to generate an attitude image of the working machine.
In some embodiments, the storage module 420 is further configured to store the operating parameters and the tags corresponding to the operating parameters;
the second receiving module 430 is further configured to receive a first input of a target control from a user, where the target control corresponds to a label.
In some embodiments, the work machine includes a pump truck; the first receiving module 410 is further configured to obtain at least two working parameters of a turret angle, an angle of each support leg, an angle of each arm support, a reversing frequency, and a displacement of an oil cylinder of the plurality of actuators.
In some embodiments, after displaying the target pose image, the pose display apparatus of the work machine is further configured to:
based on the target pose image, fault information is determined.
According to the pose display device of the working machine, the target pose image is generated and displayed based on the working parameters and is used for tracing the fault of the working machine, so that the fault diagnosis efficiency is obviously improved, and the man-machine interaction and the use flexibility are improved.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a pose exposure method for a work machine that includes a plurality of actuators that are relatively movable; the method comprises the following steps: acquiring working parameters of the plurality of actuating mechanisms and storing the working parameters; receiving a first input of a user; determining a target operating parameter from the stored operating parameters in response to the first input; determining a target attitude image based on the target working parameters; and displaying the target posture image.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present disclosure also provides a computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when executed by a computer, the computer being capable of executing the pose display method for a working machine provided by the above methods, the working machine including a plurality of actuators that are relatively movable; the method comprises the following steps: acquiring working parameters of the plurality of actuating mechanisms and storing the working parameters; receiving a first input of a user; determining a target operating parameter from the stored operating parameters in response to the first input; determining a target attitude image based on the target working parameters; and displaying the target posture image.
In yet another aspect, the present disclosure also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the posture display method of the work machine provided in each of the above aspects, the work machine including a plurality of actuators that are relatively movable; the method comprises the following steps: acquiring working parameters of the plurality of actuating mechanisms and storing the working parameters; receiving a first input of a user; determining a target operating parameter from the stored operating parameters in response to the first input; determining a target attitude image based on the target working parameters; and displaying the target posture image.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. A pose display method of a working machine is characterized in that the working machine comprises a plurality of executing mechanisms which can move relatively; the method comprises the following steps:
acquiring working parameters of the plurality of actuating mechanisms;
storing the working parameters;
receiving a first input of a user;
determining a target operating parameter from the stored operating parameters in response to the first input;
determining a target attitude image based on the target working parameters;
and displaying the target posture image.
2. The pose display method of a work machine according to claim 1,
after the obtaining of the operating parameters of the plurality of actuators, the method further comprises:
comparing the working parameters with preset working parameters to obtain a first comparison result;
obtaining a first exception worksheet based on the first comparison result, wherein the first exception worksheet comprises: abnormal time, abnormal execution mechanism and abnormal condition;
storing the first abnormal worksheet;
said determining a target operating parameter from said stored operating parameters in response to said first input comprises:
determining the target operating parameters and a target first exception worksheet from the stored operating parameters and first exception worksheets in response to the first input;
the displaying the target pose image comprises:
and displaying an abnormal execution mechanism image on the target posture image based on the target first abnormal worksheet, and outputting prompt information.
3. The pose display method of a work machine according to claim 1,
after the determining the target operating parameter, the method further comprises:
comparing the target working parameter with a preset working parameter to obtain a second comparison result;
obtaining a second exception worksheet based on the second comparison, wherein the second exception worksheet comprises: abnormal time, abnormal execution mechanism and abnormal condition;
the displaying the target pose image comprises:
and displaying an abnormal execution mechanism image on the target posture image based on the second abnormal working table, and outputting prompt information.
4. The pose display method of a work machine according to claim 1, wherein after the acquiring the operating parameters of the plurality of actuators, the method further comprises:
generating a real-time attitude image of the work machine based on the working parameters;
and displaying the real-time attitude image of the working machine in real time.
5. The pose display method of a work machine according to claim 1, characterized by further comprising:
receiving a second input of the user;
generating a simulated pose image of the work machine in response to the second input.
6. The pose display method of a work machine according to claim 1, wherein the first input is used to input a target history time period or a target history time.
7. The method according to claim 1, wherein the determining a target attitude image based on the target operating parameter includes:
performing data preprocessing on the target working parameters to obtain first attitude characteristics;
converting the first attitude characteristic into a horizontal angle to obtain a target attitude characteristic;
and fusing the target attitude features to generate the target attitude image of the working machine.
8. The pose display method of a work machine according to claim 1,
the storing the operating parameters includes:
storing the working parameters and labels corresponding to the working parameters;
the receiving a first input of a user comprises:
receiving a first input of a target control by a user, wherein the target control corresponds to the label.
9. The pose display method of a work machine according to any one of claims 1 to 8, wherein the work machine includes a pump truck; the acquiring of the working parameters of the plurality of actuators includes:
and acquiring at least two working parameters of the turret angle, the angle of each supporting leg, the angle of each arm support, the reversing times and the displacement of the oil cylinder of the plurality of actuating mechanisms.
10. The pose presentation method of a work machine according to any one of claims 1 to 8, wherein after the displaying the target pose image, the method further comprises:
based on the target attitude image, fault information is determined.
11. A posture display device of a working machine is characterized in that the working machine comprises a plurality of executing mechanisms which can move relatively; the device comprises:
the first receiving module is used for acquiring working parameters of the plurality of executing mechanisms;
the storage module is used for storing the working parameters;
the second receiving module is used for receiving a first input of a user;
a first processing module for determining a target operating parameter from the stored operating parameters in response to the first input;
the second processing module is used for determining a target attitude image based on the target working parameters;
and the display module is used for displaying the target posture image.
12. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the pose display method for a work machine according to any one of claims 1 to 10 when executing the program.
13. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the pose display method for a work machine according to any one of claims 1 to 10.
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