CN113342169A - Tower crane operation virtual training system based on force feedback - Google Patents
Tower crane operation virtual training system based on force feedback Download PDFInfo
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
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Abstract
The invention discloses a tower crane operation virtual training system based on force feedback. The device comprises an input module, a graph calculation unit, an output module and a feedback module, wherein the input module converts the operation of training personnel on a mechanical lever into an electric signal, the graph calculation unit carries out corresponding transformation on a virtual simulation graph through a graph engine on the input electric signal, the output module carries out model constraint judgment on a transformation space of the graph transformation and converts the result of the constraint judgment into the electric signal, the feedback module carries out steering engine control on the electric signal in the output module, and finally the result of the steering engine control is fed back to the mechanical lever to carry out force feedback effect simulation. The training system can provide more real operation touch according to space constraint and load constraint of the tower crane, so that the training system is more consistent with a real operation scene, force feedback of training personnel on the operation rod is further improved, and the operation technology is improved.
Description
Technical Field
The invention belongs to the technical field of education and training system design, belongs to the technical field of large-scale equipment virtual operation education and training system design, and relates to a force feedback-based tower crane operation virtual training system.
Background
At present, with the high-speed development of economy in China, more and more capital construction projects are provided, and a tower crane on a construction site is common building construction equipment and has relatively high operation technical requirements. The qualified tower crane operator is cultured with great material and financial investment, and training in a real scene has certain dangerousness, so that the establishment of a set of virtual training system for tower crane operation has great application scenarios.
Chinese patent publication No. CN 101655786 discloses a "tower crane operation simulation training virtual reality software system," which realizes the change of the working process and scene of a tower crane, simulates the generation and change of three-dimensional scenes such as day, night, fog, etc., and is specially used for training a tower crane driver, but this technology only establishes visual model simulation, does not give real operation touch, and the operation training effect is not good.
Disclosure of Invention
In response to the above-identified deficiencies in the art or needs for improvement, the present invention provides a force feedback based tower crane operation virtual training system. The invention aims to provide a tower crane operation virtual training system which has a force feedback signal interaction characteristic and provides more real operation hand feeling for training personnel.
The invention is realized by the following technical scheme:
the utility model provides a tower crane operation virtual training system based on force feedback which characterized in that: the system comprises an input module, a graphic calculation unit, an output module and a feedback module;
the input module is used for converting the operation of training personnel on the mechanical rod into an electric signal;
the graphic calculation unit is used for correspondingly transforming the virtual simulation graphic through a graphic engine by using the input electric signal;
the output module is used for carrying out model constraint judgment on a transformation space of the graph transformation and converting a result of the constraint judgment into an electric signal;
the feedback module is used for carrying out steering engine control on the electric signal in the output module and finally feeding back the steering engine control result to the mechanical operating rod for force feedback effect simulation.
The input module is used for simulating a tower crane control room and establishing an operating rod for simulating operation of the tower crane, and the mechanical motion of the operating rod drives the connected relay to change an electric signal; the mechanical movement of the operating rod changes the magnitude of the electric signal, and the mechanical change to the electric signal change is realized.
The graphic calculation unit changes the motion direction and displacement of the corresponding simulation model according to the magnitude of the electric signal transmitted by the input module; the electric signal is transmitted to the graphic engine through serial port communication, and the electric signal is transmitted to the graphic transformation program to realize the transformation of the corresponding model.
The output module is used for carrying out constraint judgment on a model of graph transformation in the graph calculation unit, and the constraint judgment comprises space transformation constraint and load constraint;
and (3) space transformation constraint: K-K1, K2), where K1 is the threshold in the horizontal direction, K1 e [ a, b)](ii) a K2 is the threshold in the vertical direction, K2 ∈ [ c, d ∈ ]](ii) a And there is a spatial critical range [ a ] in the horizontal direction0，b0]∈[a，b]And the critical spatial range of the vertical direction [ c ]0，d0]∈[c，d](ii) a The horizontal spatial variation Kx and the vertical spatial variation Ky have the following relationship with the electrical signal E:
spatial critical value a0，b0，c0，d0The following requirements are met:
load restraint: the load constraint function F satisfies the following requirements that when the load weight M is larger, M belongs to [ e ∈ [ ]0，f0]∈[e，f]Wherein e and f are upper and lower limits of the load, e0，f0The output electric signal F is a constant theta if the load is a critical value; when in use
If so, the output electric signal F is equal to 0; when M is equal to [ e, e ∈ [ ]0]∪[f0，f]Then, the output electrical signal F ═ τ · M, where τ is the positive correlation coefficient.
The feedback module controls the rotating force of the steering engine in the feedback module according to the magnitude of the electric signal output by the output module; the set rotating force N satisfies the formula: n ═ β · (E)2+F2)1/2The larger the electric signal E, F is, the larger the output rotating force N, beta is a positive correlation coefficient; and then the rotating force is transmitted to the operating rod for force feedback.
Compared with the prior art, the training system of the invention can obtain the following beneficial effects:
(1) the virtual training system for the operation of the large tower crane based on the force feedback, provided by the invention, can provide more real operation touch feeling according to the space constraint and the load constraint of the tower crane, so that the training system is more consistent with the real operation feeling.
(2) The virtual training system for the operation of the large tower crane based on the force feedback, provided by the invention, can enable training personnel to experience real operation touch feeling, further feel the force feedback of the operating rod and facilitate the improvement of operation technology.
Drawings
FIG. 1 is a schematic block diagram of a tower crane operation virtual training system according to the present invention.
Detailed Description
The present invention is further described below in conjunction with the following detailed description, which is intended to further illustrate the principles of the invention and is not intended to limit the invention in any way, but is equivalent or analogous to the present invention without departing from its scope.
With reference to the attached drawings.
Referring to fig. 1, fig. 1 is a schematic block diagram of a tower crane operation virtual training system based on force feedback according to the present invention.
The invention relates to a tower crane operation virtual training system, which comprises: the device comprises an input module, a graphic calculation unit, an output module and a feedback module.
The input module converts the operation of the training personnel on the mechanical rod into an electric signal;
the input module establishes a simulation tower crane control room, establishes an operation rod similar to the operation of a tower crane, and changes connected components such as a relay and the like through the mechanical movement of the operation rod. Through the mechanical motion of the operating rod, the size of the electric signal is further changed, and the process from mechanical change to electric signal change is realized.
The graph calculation unit carries out corresponding transformation on the virtual simulation graph through a graph engine by the input electric signal;
the graphic calculation unit changes the motion direction and displacement of the corresponding simulation model according to the magnitude of the electric signal transmitted by the input module. The electric signal is transmitted to the graphic engine through serial port communication, and then is transmitted to the graphic transformation program, so that the transformation of the corresponding model is realized.
The output module is used for carrying out model constraint judgment on a transformation space of the graph transformation and converting a constraint judgment result into an electric signal;
the output module is mainly used for carrying out constraint judgment on a model of graph transformation in the graph calculation unit, wherein the model comprises space transformation constraint and load constraint;
the spatial variation threshold K is (K1, K2), where K1 is the threshold in the horizontal direction, K1 e [ a, b ∈ b](ii) a K2 is the threshold in the vertical direction, K2 ∈ [ c, d ∈ ]]. And there is a spatial critical range [ a ] in the horizontal direction0,b0]∈[a,b]And the critical spatial range of the vertical direction [ c ]0,d0]∈[c,d]Then, the horizontal spatial variation Kx and the vertical spatial variation Ky have the following relationship with the electrical signal E:
further, the spatial critical value a0,b0，c0,d0The following requirements are set forth:
in this embodiment, am, bm, cm and dm are 0, and an, bn, cn and dn are 0.05 respectively.
The load constraint compliance function F meets the following requirements: when the load weight M is larger, and M belongs to [ e ]0,f0]∈[e,f]When (wherein e and f are upper and lower limits met by the load, e0,f0Is a critical value of the load), the output electric signal F is a constant theta; when in use
If so, the output electric signal F is equal to 0; when M is equal to [ e, e ∈ [ ]0]∪[f0，f]Then, the output electrical signal F ═ τ · M, where τ is the positive correlation coefficient.
In this example, τ is 2.
The feedback module is used for carrying out steering engine control on the electric signal in the output module and finally feeding back the steering engine control result to the mechanical operating rod for force feedback.
The feedback module controls the rotating force of the steering engine in the feedback module according to the magnitude of the electric signal output by the output module; the set rotating force N satisfies the formulaFormula (II): n ═ β · (E)2+F2)1/2The larger the electric signal E, F is, the larger the output rotating force N, beta is a positive correlation coefficient; and then the rotating force is transmitted to the operating rod for force feedback. In this example, β ═ 3.
And finally, transmitting the rotating force to the operating rod for force feedback.
Claims (5)
1. The utility model provides a tower crane operation virtual training system based on force feedback which characterized in that: the system comprises an input module, a graphic calculation unit, an output module and a feedback module;
the input module is used for converting the operation of training personnel on the mechanical rod into an electric signal;
the graphic calculation unit is used for correspondingly transforming the virtual simulation graphic through a graphic engine by using the input electric signal;
the output module is used for carrying out model constraint judgment on a transformation space of the graph transformation and converting a result of the constraint judgment into an electric signal;
the feedback module is used for carrying out steering engine control on the electric signal in the output module and finally feeding back the steering engine control result to the mechanical operating rod for force feedback effect simulation.
2. The force feedback-based tower crane operation virtual training system of claim 1, wherein: the input module is used for simulating a tower crane control room and establishing an operating rod for simulating operation of the tower crane, and the mechanical motion of the operating rod drives the connected relay to change an electric signal; the mechanical movement of the operating rod changes the magnitude of the electric signal, and the mechanical change to the electric signal change is realized.
3. The force feedback-based tower crane operation virtual training system of claim 1, wherein: the graphic calculation unit changes the motion direction and displacement of the corresponding simulation model according to the magnitude of the electric signal transmitted by the input module; the electric signal is transmitted to the graphic engine through serial port communication, and the electric signal is transmitted to the graphic transformation program to realize the transformation of the corresponding model.
4. The force feedback-based tower crane operation virtual training system of claim 1, wherein: the output module is used for carrying out constraint judgment on a model of graph transformation in the graph calculation unit, and the constraint judgment comprises space transformation constraint and load constraint;
and (3) space transformation constraint: setting the spatial variation threshold K ═ K1, K2, where K1 is the threshold in the horizontal direction, K1 ∈ [ a, b ∈](ii) a K2 is the threshold in the vertical direction, K2 ∈ [ c, d ∈ ]](ii) a And there is a spatial critical range [ a ] in the horizontal direction0，b0]∈[a，b]And the critical spatial range of the vertical direction [ c ]0，d0]∈[c，d](ii) a The horizontal spatial variation Kx and the vertical spatial variation Ky have the following relationship with the electrical signal E:
spatial critical value a0，b0，c0，d0The following requirements are met:
load restraint: the load constraint function F satisfies the following requirements that when the load weight M is larger, M belongs to [ e ∈ [ ]0，f0]∈[e，f]Wherein e and f are upper and lower limits of the load, e0，f0The output electric signal F is a constant theta if the load is a critical value; when in use
If so, the output electric signal F is equal to 0; when M is equal to [ e, e ∈ [ ]0]∪[f0，f]Then, the output electrical signal F ═ τ · M, where τ is the positive correlation coefficient.
5. According toThe force feedback-based tower crane operation virtual training system of claim 1, wherein: the feedback module controls the rotating force of the steering engine in the feedback module according to the magnitude of the electric signal output by the output module; the set rotating force N satisfies the formula: n ═ β · (E)2+F2)1/2The larger the electric signal E, F is, the larger the output rotating force N, beta is a positive correlation coefficient; and then the rotating force is transmitted to the operating rod for force feedback.
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