CN114218702A - Virtual visual simulation system for space on-orbit control - Google Patents
Virtual visual simulation system for space on-orbit control Download PDFInfo
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- CN114218702A CN114218702A CN202111510789.1A CN202111510789A CN114218702A CN 114218702 A CN114218702 A CN 114218702A CN 202111510789 A CN202111510789 A CN 202111510789A CN 114218702 A CN114218702 A CN 114218702A
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Abstract
The invention provides a virtual visual simulation system for space on-orbit control, which comprises a central control system, an industrial personal computer, a ground experiment system, 3D modeling software, a virtual visual simulation system, a high-definition display and a motion capture system, wherein the industrial personal computer is connected with the ground experiment system; the method adopts a DataSmith data import tool, has a 3D model data import format with complete types, can import a 3D model established by current mainstream CAD/CAID software such as SolidWorks, CATIA, UG, 3DMax, C4D and the like, realizes the import of data such as mechanical design, scene design and the like, and meets the requirements of experimental design and scene rendering; an Unreal Engine5 Engine is adopted for real-time rendering, so that a very vivid real-time rendering effect is achieved; the data transmission adopts UDP protocol, has remote display function, the servers with fixed IP are arranged in different places or can remotely display through the internet by UDP penetration technology, the delay effect displayed in real time is about 50ms level according to network delay, and the remote demonstration effect is good.
Description
Technical Field
The invention relates to a virtual visual simulation system, in particular to a virtual visual simulation system for space on-orbit control.
Background
In the aspect of on-orbit control software simulation, the forward solution calculation of dynamics is mainly performed through traditional multi-body dynamics simulation software such as ADAMS (automatic analysis of moving objects) and MATLAB (matrix laboratory) modules, inverse dynamics is generally realized by adopting self-written programs or MATLAB modules, and after calculation and simulation are performed, results are analyzed through curves and simple animations, so that the defects of weak 3D display performance, poor data analysis effect, lack of intuition and the like exist.
The current on-orbit control experiment system mainly directly controls an actual system, a large amount of simulation is needed to ensure the accuracy of a verification new algorithm, and the defects of high safety risk of experiment equipment, high debugging cost, long experiment period and the like exist in the experiment process.
At present, a space on-orbit control virtual visual simulation platform mainly aims at real-time display of a dynamic software simulation result, actual data of a ground test and the virtual simulation platform are not connected into a system, and a hardware-in-loop function is not provided.
The existing experimental 3D visualization is a functional display animation based on a video technology, does not have a hardware-in-loop debugging function for planning and controlling performance, cannot verify a new planning and controlling algorithm, and particularly lacks a safe and effective verification means for an artificial intelligent method such as online reinforcement learning.
The existing virtual visual simulation platform technology does not have high-definition and vivid real-time rendering effect, has the defects of video blockage, fuzziness and the like, and lacks the function of network remote real-time display.
With the increasing frequency and the increasing complexity of human aerospace activities, the in-orbit service is taken as an important means for realizing the functions of spacecraft maintenance, fuel filling, module replacement, fragment cleaning, target grabbing and the like, the verification of the key technology of the in-orbit service of a cooperative target is completed abroad, and the research and verification of the key technology for providing service for the in-orbit target are carried out. The in-orbit control technology is a research hotspot of domestic and foreign space agencies, and in view of the defects of high cost and long period of in-orbit experimental verification, ground tests and simulation become important means for verifying the in-orbit control technology.
Disclosure of Invention
The invention provides a virtual visual simulation system for space on-orbit control aiming at an on-orbit control ground simulation experiment, and the ground simulation and verification of the space on-orbit control experiment are realized by combining the on-orbit control ground experiment.
The invention is realized by the following scheme:
a virtual visual simulation system facing space on-orbit control comprises:
the simulation system comprises a central control system 1, an industrial personal computer 2, a ground experiment system 3, 3D modeling software 4, a virtual visual simulation system 5, a high-definition display 6 and a motion capture system 7;
the central control system 1 and the industrial personal computer 2 are in data communication through a network cable;
the industrial personal computer 2 and the ground experimental system 3 are controlled and fed back through a network cable;
the ground experiment system 3 carries out modeling through 3D modeling software 4 to obtain a 3D data model for virtual visual display;
the 3D modeling software 4 imports the 3D data model into the virtual visual simulation system 5, processes and renders the data model, and generates a 3D simulation visual corresponding to the ground experiment system 3;
the central control system 1 is in data communication with the virtual visual simulation system 5 through network transmission, and sends instructions to the industrial personal computer 2 and the virtual visual simulation system 5 at the same time, so that synchronous simulation of the ground experiment system 3 and the virtual visual simulation system 5 is realized;
the virtual visual simulation system 5 is connected with a high-definition display 6 through a DP high-definition data line to realize high-definition display of a virtual visual;
the motion capture system 7 captures and calculates the motion state of the ground experiment system 3 by arranging cameras around the ground experiment system 3, and transmits data to the central control system 1.
Furthermore, the central control system 1 is provided with software for controlling the ground test system 3, and realizes data exchange with the industrial personal computer 2 through a TCP/IP communication protocol;
the central control system 1 issues instructions of software simulation calculation to the industrial personal computer 2 through the network cable, and the industrial personal computer 2 transmits data returned by the ground experiment system 3 to the central control system 1 through the network cable, so that communication between the central control system 1 and the industrial personal computer 2 is realized.
Furthermore, the industrial personal computer 2 is provided with an ethercat master station and is connected with the ground experiment system 3 through a network cable, the industrial personal computer 2 receives an instruction of the central control system 1, the instruction is transmitted to the ground experiment system 3 through an ethercat communication protocol, the ground experiment system 3 makes an expected action according to the corresponding instruction, actual data of the ground experiment system 3 is measured through a sensor, the actual data is fed back to the industrial personal computer 2, and control between the industrial personal computer 2 and the ground experiment system 3 and data feedback are realized;
the sensors comprise encoders inside the mechanical arm joint modules, torque sensors of the mechanical arm joint modules, current measuring modules on the drivers, six-dimensional force sensors at the tail ends of the mechanical arms and tail end vision cameras;
the actual data comprises the corner, the current and the torque of the mechanical arm joint module, the force and the torque of the whole tail end of the mechanical arm and the visual information of the tail end relative to the target.
Further, the 3D modeling software 4 includes SolidWorks, UG, CATIA, Creo industrial CAD design software, Maya,3Ds Max, C4D, Rhino artistic 3D modeling software, the industrial design software performs parameterized accurate modeling, and the artistic 3D modeling software performs scene rendering modeling, thereby jointly completing the modeling work of the virtual view simulation system 5.
Further, the central control system 1, the virtual view simulation system 5 and the motion capture system 7 can be arranged on the same workstation or PC.
Further, the central control system 1 can receive specific tasks given by the task planning module 8;
the central control system 1 comprises a path planning module 9, a kinematics module 10 and a dynamics module 11,
the virtual view simulation system 5 includes a UE5 real-time rendering engine 12 and a virtual view front end 13.
Further, when the emulation system is in unaccessed hardware mode,
the task planning module 8 gives a task demand to obtain an expected track, transmits the expected track to the path planning module 9, calculates a corresponding mechanical arm joint angle according to the expected track through the kinematics module 10 to obtain the angular velocity and the angular acceleration of the joint angle, transmits the angular velocity and the angular acceleration to the dynamics module 11, and calculates the torque required by each joint module;
and the data calculated by the kinematics module 10 and the dynamics module 11 are transmitted to a UE5 real-time rendering engine 12, and the data are displayed on the high-definition display 6 through a virtual view front end 13, so that real-time simulation 3D display is realized.
Further, the simulation system also includes an uninstalled experimental device critical module 14,
the unmounted experimental device key module 14 comprises a mechanical arm joint module 15, a motor 16, a motor driver 17, an encoder 18, a terminal six-dimensional torque sensor 19, a terminal camera 20 and a terminal actuating mechanism 21.
Further, when the simulation system is in an experimental hardware mode that is accessed but not installed,
the task planning module 8 gives a task requirement to obtain an expected track, the transmission path planning module 9 calculates a corresponding mechanical arm joint angle according to the expected track through the kinematics module 10 to obtain the angular velocity and the angular acceleration of the joint angle, transmits the angular velocity and the angular acceleration to the dynamics module 11, and calculates the torque required by each joint module;
the obtained kinematic and dynamic parameters are transmitted to the mechanical arm joint module 15 and the tail end executing mechanism 21 through an ethercat main station on the industrial personal computer 2, the motor driver 17 controls the motor 16 to execute corresponding instructions according to data transmitted by the industrial personal computer 2, meanwhile, the encoder 18 transmits the actual rotation angle and the angular speed of the real-time measurement mechanical arm joint module 15 to the motor driver 17, the motor driver 17 measures the current of the motor in real time, the output torque of the motor 16 can be controlled through the current, and then the tail end executing mechanism 21 is controlled to execute corresponding actions;
the tail end six-dimensional torque sensor 19 and the tail end camera 20 return to the industrial personal computer 2 by measuring tail end six-dimensional force parameters and tail end pose parameters and combining with state parameters of the tail end actuating mechanism 21 and current, joint angle and angular speed parameters obtained by the motor driver 17, and then transmit the parameters to the central control system 1, the central control system 1 transmits data to the UE5 real-time rendering engine 12 through a network transmission protocol, and the data is displayed on the high-definition display 6 through the virtual visual front end 13, so that real-time simulated 3D display is realized.
Further, when the simulation system is in the access experimental system mode,
the task planning module 8 gives a task requirement to obtain an expected track, the transmission path planning module 9 calculates a corresponding mechanical arm joint angle according to the expected track through the kinematics module 10 to obtain the angular velocity and the angular acceleration of the joint angle, transmits the angular velocity and the angular acceleration to the dynamics module 11, and calculates the torque required by each joint module;
the obtained kinematics and dynamics parameters are transmitted to a ground experiment system 3 through an ethercat main station on an industrial personal computer 2, meanwhile, the ground experiment system 3 transmits parameters of terminal six-dimensional force, terminal pose, current, rotating speed and angle of each joint module back to the industrial personal computer 2 and then transmits the parameters to a central control system 1, the central control system 1 transmits data to a UE5 real-time rendering engine 12 through a network transmission protocol, and the data is displayed on a high-definition display 6 through a virtual visual scene front end 13, so that real-time simulation 3D display is realized.
The invention has the beneficial effects
(1) The virtual visual simulation technology is a simulation technology which integrates a plurality of technologies such as a three-dimensional modeling technology, a real-time rendering technology, a data transmission technology and the like; the three-dimensional model of the simulation object in the virtual view keeps consistent with the actual research object in height, and can realize multiple functions. On the one hand, under the condition that an experimental device is not accessed, three-dimensional visual real-time display of a dynamic software simulation result controlled in a space on track can be achieved through a data interface, high-performance display cards and high-definition displays are adopted to conduct high-definition high-quality real-time display on a three-dimensional visual scene of simulation, the simulation result is displayed in real time, three-dimensional high-definition observation of the simulation result is facilitated, more accurate judgment of the simulation result can be conducted at any visual angle in a three-dimensional environment, and parameters such as stress and speed of a simulation object are displayed more vividly through a parameter image display function, so that simulation is more visual and convenient.
(2) Under the condition that actual experiment platform hardware is in the ring, virtual simulation platform accessible data interface forms data transmission to central control system, and with the real-time synchronization of experimental apparatus, the high definition shows the current running state of experimental apparatus without dead angle, with the visual three-dimensional show of key data image that sensor data and dynamics were solved, reach fine observation effect, need not closely to observe experimental apparatus, guarantee experimental apparatus and experimenter's safety.
(3) The virtual simulation platform can be used for verifying the calculation results of kinematics and dynamics by combining software and hardware and is used as a pre-research means for planning and controlling an algorithm of a space on-orbit control ground experimental device. Because the ground experimental device structure is complicated, experimental complexity is big, and the debugging is difficult, to the debugging in-process of key parts such as arm at the initial stage because the restriction of mechanical mounted position, spare part performance, probably can cause the collision to take place between arm and the experimental structure and the mutual collision between many arms, causes the damage of structure and experimental apparatus, causes economic loss, delays the experiment progress. The key to planning and controlling the on-orbit control mechanical arm lies in the rotation angle of the joint module, and the mechanical installation and the rotation angle of the joint module without assembling the mechanical arm are not limited. According to the virtual visual simulation platform, unassembled joint module hardware objects can be connected into the system, joint module objects adopted by an experimental device are adopted, a complete actual system 3D model is adopted in the virtual visual, and through control over the motor angle and 3D virtual display, the motion planning and control of mechanical arm movement can be conveniently and quickly researched, so that the debugging cost is saved. Through a software platform of the central control system, verification of an artificial intelligence algorithm can be realized, and the safety problem of the mechanical arm during online reinforcement learning is guaranteed. After the uninstalled hardware is subjected to simulation verification and is ensured to be correct, an experimental hardware platform can be quickly installed, and complete experimental verification is directly performed.
(4) The virtual visual simulation technology realized by the invention adopts a DataSmith data import tool, has a 3D model data import format with complete variety, can import the 3D model established by current mainstream CAD/CAID software such as SolidWorks, CATIA, UG, 3DMax, C4D and the like, realizes the import of data such as mechanical design, scene design and the like, and meets the requirements of experimental design and scene rendering; the non-real Engine5 Engine is adopted for real-time rendering, pictures of CG grades of the film can be calculated, two hundred million polygon calculations can be calculated in real time every second, and a very vivid real-time rendering effect can be achieved by matching a high-performance display card and a 4K large-screen display; the data transmission adopts UDP protocol, has remote display function, the servers with fixed IP are arranged in different places or can remotely display through the internet by UDP penetration technology, the delay effect displayed in real time is about 50ms level according to network delay, and the remote demonstration effect is good.
Drawings
FIG. 1 is a system framework diagram of the present invention;
FIG. 2 illustrates a hardware mode of the present invention;
FIG. 3 is an experimental hardware model of the present invention accessed but not installed;
FIG. 4 illustrates an access experiment system mode of the present invention;
the system comprises a central control system 1, an industrial personal computer 2, a ground experiment system 3, 4-3D modeling software, a virtual visual simulation system 5, a high-definition display 6, a motion capture system 7, a mission planning module 8, a path planning module 9, a kinematics module 10, a dynamics module 11, a real-time rendering engine 12-UE5, a virtual visual front end 13, an uninstalled experimental device key module 14, a mechanical arm joint module 15, a motor 16, a motor driver 17, an encoder 18, a six-dimensional torque sensor 19, an end camera 20 and an end execution mechanism 21;
communication, control, feedback, modeling, network transmission, model introduction and data transmission.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; 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.
In conjunction with the figures 1 to 4 of the drawings,
a virtual visual simulation system facing space on-orbit control comprises:
the simulation system comprises a central control system 1, an industrial personal computer 2, a ground experiment system 3, 3D modeling software 4, a virtual visual simulation system 5, a high-definition display 6 and a motion capture system 7;
the central control system 1 and the industrial personal computer 2 are in data communication through a network cable;
the industrial personal computer 2 and the ground experimental system 3 are controlled and fed back through a network cable;
the ground experiment system 3 carries out modeling through the 3D modeling software 4 to obtain a 3D data model for virtual visual display, and the consistency of the experiment system and the virtual visual 3D model is kept;
the 3D modeling software 4 imports the 3D data model into the virtual visual simulation system 5, processes and renders the data model, and generates a 3D simulation visual corresponding to the ground experiment system 3;
the central control system 1 is in data communication with the virtual visual simulation system 5 through network transmission, and sends instructions to the industrial personal computer 2 and the virtual visual simulation system 5 at the same time, so that synchronous simulation of the ground experiment system 3 and the virtual visual simulation system 5 is realized;
the virtual visual simulation system 5 is connected with a high-definition display 6 through a DP high-definition data line to realize high-definition display of a virtual visual;
the motion capture system 7 captures and resolves the motion state of the ground experiment system 3 by arranging an imaging system with a plurality of cameras around the ground experiment system 3, and transmits data to the central control system 1 to form a closed-loop control circuit of the ground experiment device 3.
The central control system 1 is provided with software for controlling the ground test system 3, and realizes data exchange with the industrial personal computer 2 through a TCP/IP communication protocol;
the central control system 1 issues instructions of software simulation calculation to the industrial personal computer 2 through the network cable, and the industrial personal computer 2 transmits data returned by the ground experiment system 3 to the central control system 1 through the network cable, so that communication between the central control system 1 and the industrial personal computer 2 is realized.
The industrial personal computer 2 is provided with an ethercat main station and is connected with the ground experiment system 3 through a network cable, the industrial personal computer 2 receives an instruction of the central control system 1, the instruction is transmitted to the ground experiment system 3 through an ethercat communication protocol, the ground experiment system 3 performs expected actions according to the corresponding instruction, actual data of the ground experiment system 3 are measured through a sensor, the actual data are fed back to the industrial personal computer 2, and control between the industrial personal computer 2 and the ground experiment system 3 and data feedback are achieved;
the sensors comprise encoders inside the mechanical arm joint modules, torque sensors of the mechanical arm joint modules, current measuring modules on the drivers, six-dimensional force sensors at the tail ends of the mechanical arms and tail end vision cameras;
the actual data comprises the corner, the current and the torque of the mechanical arm joint module, the force and the torque of the whole tail end of the mechanical arm and the visual information of the tail end relative to the target.
The 3D modeling software 4 comprises industrial CAD design software such as SolidWorks, UG, CATIA and Creo and art 3D modeling software such as Maya,3Ds Max, C4D and Rhino, the industrial design software carries out parameterized accurate modeling, and the 3D modeling software of the art carries out scene rendering modeling to jointly complete the modeling work of the virtual visual simulation system 5.
The central control system 1, the virtual view simulation system 5 and the motion capture system 7 can be arranged on the same workstation or PC.
The central control system 1 can receive specific tasks given by the task planning module 8;
the central control system 1 comprises a path planning module 9, a kinematics module 10 and a dynamics module 11,
the virtual view simulation system 5 includes a UE5 real-time rendering engine 12 and a virtual view front end 13.
When the emulation system is in the unaccessed hardware mode,
the data flow is:
the task planning module 8 gives a task demand to obtain an expected track, transmits the expected track to the path planning module 9, calculates a corresponding mechanical arm joint angle according to the expected track through the kinematics module 10 to obtain the angular velocity and the angular acceleration of the joint angle, transmits the angular velocity and the angular acceleration to the dynamics module 11, and calculates the torque required by each joint module;
and the data calculated by the kinematics module 10 and the dynamics module 11 are transmitted to a UE5 real-time rendering engine 12, and the data are displayed on the high-definition display 6 through a virtual view front end 13, so that real-time simulation 3D display is realized.
The working process is as follows:
through an experimental system kinematics model established in software of the central control system 1, a specific task is given by a task planning module, a mechanical arm kinematics plan and a tail end track plan are solved according to task requirements, and then kinematics solution is carried out to obtain kinematics parameters such as a corner of each joint module of the mechanical arm; and a dynamic model of the system can be established according to a multi-body dynamics principle aiming at an experimental system, and dynamic parameters such as mechanical arm joint torque output and mechanical arm tail end force and moment output can be obtained from task requirements. The parameters are given to the virtual view simulation system 5, and the actions, forces and moments of the corresponding mechanical arms in the ground experiment system 3 can be displayed in the virtual view.
The simulation system also includes an uninstalled lab device critical module 14,
the unmounted experimental device key module 14 comprises a mechanical arm joint module 15, a motor 16, a motor driver 17, an encoder 18, a terminal six-dimensional torque sensor 19, a terminal camera 20 and a terminal actuating mechanism 21.
When the simulation system is in an experimental hardware mode that is accessed but not installed,
the data flow is:
the task planning module 8 gives a task requirement to obtain an expected track, the transmission path planning module 9 calculates a corresponding mechanical arm joint angle according to the expected track through the kinematics module 10 to obtain the angular velocity and the angular acceleration of the joint angle, transmits the angular velocity and the angular acceleration to the dynamics module 11, and calculates the torque required by each joint module;
the obtained kinematic and dynamic parameters are transmitted to the mechanical arm joint module 15 and the tail end executing mechanism 21 through an ethercat main station on the industrial personal computer 2, the motor driver 17 controls the motor 16 to execute corresponding instructions according to data transmitted by the industrial personal computer 2, meanwhile, the encoder 18 transmits the actual rotation angle and the angular speed of the real-time measurement mechanical arm joint module 15 to the motor driver 17, the motor driver 17 measures the current of the motor in real time, the output torque of the motor 16 can be controlled through the current, and then the tail end executing mechanism 21 is controlled to execute corresponding actions;
the tail end six-dimensional torque sensor 19 and the tail end camera 20 return to the industrial personal computer 2 by measuring tail end six-dimensional force parameters and tail end pose parameters and combining with state parameters of the tail end actuating mechanism 21 and parameters such as current, joint angle and angular speed obtained by the motor driver 17, and then transmit the parameters to the central control system 1, the central control system 1 transmits data to the UE5 real-time rendering engine 12 through a network transmission protocol, and the data is displayed on the high-definition display 6 through the virtual visual front end 13, so that real-time simulation 3D display is realized.
The working process is as follows:
before the ground experiment system 3 is not installed, power supplies and communication lines of external equipment such as a mechanical arm joint module, a camera and a force sensor which are required to be accessed by the ground experiment system are connected to the industrial personal computer 2, and hardware-in-the-loop virtual view simulation is realized. Similarly, path planning, kinematics calculation, dynamics calculation and the like are carried out through software of the central control system 1 to obtain kinematics and dynamics parameters of the mechanical arm joint module, the industrial personal computer 2 controls the mechanical arm joint module to output the kinematics and dynamics parameters, meanwhile, the mechanical arm joint module feeds the parameters of the mechanical arm back to the central control system 1 and then to the virtual visual simulation system 5, and actions, forces and moments of the corresponding mechanical arm in the ground experimental device 3 can be displayed in the virtual visual.
When the simulation system is in the access experimental system mode,
the data flow is:
the task planning module 8 gives a task requirement to obtain an expected track, the transmission path planning module 9 calculates a corresponding mechanical arm joint angle according to the expected track through the kinematics module 10 to obtain the angular velocity and the angular acceleration of the joint angle, transmits the angular velocity and the angular acceleration to the dynamics module 11, and calculates the torque required by each joint module;
the obtained kinematic and dynamic parameters are transmitted to a ground experiment system 3 through an ethercat main station on an industrial personal computer 2, meanwhile, the ground experiment system 3 transmits parameters such as terminal six-dimensional force, terminal pose, current, rotating speed and angle of each joint module back to the industrial personal computer 2 and then transmits the parameters to a central control system 1, the central control system 1 transmits data to a UE5 real-time rendering engine 12 through a network transmission protocol, and the data are displayed on a high-definition display 6 through a virtual visual scene front end 13, so that real-time simulation 3D display is realized.
The working process is as follows:
the ground experiment system is connected to the industrial personal computer 2 in an access mode, and the simulation of the experiment system in the ring virtual view is achieved. Similarly, path planning, kinematics resolving, dynamics calculation and the like are carried out through software of the central control system 1 to obtain kinematics and dynamics parameters of the mechanical arm joint module, the industrial personal computer 2 controls the ground experiment system 3 to realize kinematics and dynamics control, meanwhile, the ground experiment system 3 feeds related parameters back to the central control system 1 and then to the virtual visual simulation system 5, and synchronous simulation of the ground experiment system 3 and the virtual visual simulation system 5 is realized.
The virtual view simulation system for space-oriented on-orbit control provided by the invention is introduced in detail, the principle and the implementation mode of the invention are explained, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A virtual visual simulation system for space-oriented on-orbit control is characterized in that:
the simulation system comprises a central control system (1), an industrial personal computer (2), a ground experiment system (3), 3D modeling software (4), a virtual visual simulation system (5), a high-definition display (6) and a motion capture system (7);
the central control system (1) and the industrial personal computer (2) are in data communication through a network cable;
the industrial personal computer (2) and the ground experiment system (3) are controlled and fed back through a network cable;
the ground experiment system (3) carries out modeling through 3D modeling software (4) to obtain a 3D data model for virtual visual display;
the 3D modeling software (4) imports the 3D data model into a virtual visual simulation system (5), processes and renders the data model, and generates a 3D simulation visual corresponding to the ground experiment system (3);
the central control system (1) is in data communication with the virtual visual simulation system (5) through network transmission, and sends instructions to the industrial personal computer (2) and the virtual visual simulation system (5) at the same time, so that synchronous simulation of the ground experiment system (3) and the virtual visual simulation system (5) is realized;
the virtual visual simulation system (5) is connected with a high-definition display (6) through a DP high-definition data line to realize high-definition display of a virtual visual;
the motion capture system (7) captures and solves the motion state of the ground experiment system (3) by arranging the cameras around the ground experiment system (3), and transmits data to the central control system (1).
2. The simulation system of claim 1, wherein:
the central control system (1) is provided with software for controlling the ground test system (3), and realizes data exchange with the industrial personal computer (2) through a TCP/IP communication protocol;
the central control system (1) issues the instruction of software simulation calculation to the industrial personal computer (2) through the network cable, and the industrial personal computer (2) transmits the data returned by the ground experiment system (3) to the central control system (1) through the network cable, so that the communication between the central control system (1) and the industrial personal computer (2) is realized.
3. The simulation system of claim 1, wherein:
the industrial personal computer (2) is provided with an ethercat master station and is connected with the ground experiment system (3) through a network cable, the industrial personal computer (2) receives an instruction of the central control system (1), the instruction is transmitted to the ground experiment system (3) through an ethercat communication protocol, the ground experiment system (3) makes an expected action according to the corresponding instruction, actual data of the ground experiment system (3) are measured through a sensor, the actual data are fed back to the industrial personal computer (2), and control between the industrial personal computer (2) and the ground experiment system (3) and data feedback are achieved;
the sensors comprise encoders inside the mechanical arm joint modules, torque sensors of the mechanical arm joint modules, current measuring modules on the drivers, six-dimensional force sensors at the tail ends of the mechanical arms and tail end vision cameras;
the actual data comprises the corner, the current and the torque of the mechanical arm joint module, the force and the torque of the whole tail end of the mechanical arm and the visual information of the tail end relative to the target.
4. The simulation system of claim 1, wherein:
the 3D modeling software (4) comprises SolidWorks, UG, CATIA, Creo industrial CAD design software and Maya,3Ds Max, C4D, Rhino artistic 3D modeling software, the industrial design software carries out parameterized accurate modeling, the artistic 3D modeling software carries out scene rendering modeling, and the modeling work of the virtual visual simulation system (5) is completed together.
5. The simulation system of claim 1, wherein:
the central control system (1), the virtual view simulation system (5) and the motion capture system (7) can be arranged on the same workstation or PC.
6. The simulation system of claim 1, wherein:
the central control system (1) can receive specific tasks given by the task planning module (8);
the central control system (1) comprises a path planning module (9), a kinematics module (10) and a dynamics module (11),
the virtual view simulation system (5) comprises a UE5 real-time rendering engine (12) and a virtual view front-end (13).
7. The simulation system of claim 6, wherein:
when the emulation system is in the unaccessed hardware mode,
the task planning module (8) gives a task requirement to obtain an expected track, transmits the expected track to the path planning module (9), calculates a corresponding mechanical arm joint angle according to the expected track through the kinematics module (10), obtains the angular velocity and the angular acceleration of the joint angle, transmits the angular velocity and the angular acceleration to the dynamics module (11), and calculates the moment required by each joint module;
and the data calculated by the kinematics module (10) and the dynamics module (11) are transmitted to a UE5 real-time rendering engine (12), and the data are displayed on a high-definition display (6) through a virtual view front end (13), so that real-time simulation 3D display is realized.
8. The simulation system of claim 6, wherein:
the simulation system further comprises an uninstalled experimental device critical module (14),
the key module (14) of the uninstalled experimental device comprises a mechanical arm joint module (15), a motor (16), a motor driver (17), an encoder (18), a tail end six-dimensional torque sensor (19), a tail end camera (20) and a tail end execution mechanism (21).
9. The simulation system of claim 8, wherein:
when the simulation system is in an experimental hardware mode that is accessed but not installed,
the task planning module (8) gives a task requirement to obtain an expected track, the transmission path planning module (9) calculates a corresponding mechanical arm joint angle according to the expected track through the kinematics module (10), obtains the angular velocity and the angular acceleration of the joint angle, transmits the angular velocity and the angular acceleration to the dynamics module (11), and calculates the torque required by each joint module;
the obtained kinematic and dynamic parameters are transmitted to a mechanical arm joint module (15) and a tail end executing mechanism (21) through an ethercat main station on an industrial personal computer (2), a motor driver (17) controls a motor (16) to execute corresponding instructions according to data transmitted by the industrial personal computer (2), meanwhile, an encoder (18) transmits the actual rotating angle and the angular speed of the mechanical arm joint module (15) which are measured in real time to the motor driver (17), the motor driver (17) measures the current of the motor in real time, the output torque of the motor (16) can be controlled through the current, and then the tail end executing mechanism (21) is controlled to execute corresponding actions;
the tail end six-dimensional torque sensor (19) and the tail end camera (20) are used for measuring tail end six-dimensional force parameters and tail end pose parameters, combining state parameters of a tail end execution mechanism (21) and current, joint angle and angular speed parameters obtained by a motor driver (17), returning the parameters to the industrial personal computer (2), and then transmitting the parameters to the central control system (1), the central control system (1) transmits data to the UE5 real-time rendering engine (12) through a network transmission protocol, and the data are displayed on the high-definition display (6) through the virtual view front end (13), so that real-time simulation 3D display is achieved.
10. The simulation system of claim 8, wherein:
when the simulation system is in the access experimental system mode,
the task planning module (8) gives a task requirement to obtain an expected track, the transmission path planning module (9) calculates a corresponding mechanical arm joint angle according to the expected track through the kinematics module (10), obtains the angular velocity and the angular acceleration of the joint angle, transmits the angular velocity and the angular acceleration to the dynamics module (11), and calculates the torque required by each joint module;
the obtained kinematics and dynamics parameters are transmitted to a ground experiment system (3) through an ethercat main station on an industrial personal computer (2), meanwhile, the ground experiment system (3) transmits parameters of terminal six-dimensional force, terminal pose, current, rotating speed and angle of each joint module back to the industrial personal computer (2) and then transmits the parameters to a central control system (1), the central control system (1) transmits data to a UE5 real-time rendering engine (12) through a network transmission protocol, and the data are displayed on a high-definition display (6) through a virtual view front end (13), so that real-time simulation 3D display is realized.
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