CN114281235A - Pump truck posture display and control method based on 3D model - Google Patents
Pump truck posture display and control method based on 3D model Download PDFInfo
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- CN114281235A CN114281235A CN202111577415.1A CN202111577415A CN114281235A CN 114281235 A CN114281235 A CN 114281235A CN 202111577415 A CN202111577415 A CN 202111577415A CN 114281235 A CN114281235 A CN 114281235A
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Abstract
The invention discloses a 3D model-based pump truck posture display and control method, which is applied to a pump truck and comprises the following steps: receiving a moving instruction sent by an upper computer and analyzing a message; executing the instruction action and collecting execution data; sending execution data to an upper computer; the upper computer is used for receiving a confirmation instruction and a movement instruction sent by the 3D model, sending the movement instruction to the pump truck, and controlling the 3D model to move after receiving execution data; the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer; the invention has the function of controlling the attitude of the pump truck, and can control the operation attitude of the pump truck by using a mode of controlling a 3D model in some complex terrains which are difficult to control through a control platform, thereby increasing and optimizing the control mode of the engineering machinery vehicle.
Description
Technical Field
The invention relates to a pump truck posture display and control method based on a 3D model, and belongs to the technical field of engineering machinery.
Background
With the development of industrial internet technology and the acceleration of industrialization, the equipment networking in the engineering machinery industry has been widely applied to practical production. At present, more and more engineering machinery manufacturers begin to explore how to solve the safety problem of operators in dangerous operation scenes, wherein a remote control system for engineering machinery is the current main solution.
The remote control system generally comprises the following parts:
the method comprises the following steps that firstly, cameras with multiple angles are mounted on an engineering machinery vehicle, and visual angles in a real cockpit are provided for a remotely controlled driver;
secondly, a remote control console is designed to be close to a real cockpit under general conditions;
then, the upper computer software is used for displaying video and working condition data and providing a driver with a feeling of on-site operation and control by matching with the console;
and finally, the functions of site sound, vibration feedback and the like are used for simulating a real environment.
In a traditional engineering vehicle remote control system, a remote driver operates on a console to simulate a real driving environment by observing videos on an upper computer, and the engineering vehicle is remotely controlled to operate. However, for monitoring the posture of the engineering machinery vehicle, since the personnel are far away from the dangerous site, the personnel can only check the posture through a few sensor values at present, and the visual angle through a third person is lacked. Meanwhile, remote manipulation in a complex working environment is a challenge for a driver.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a pump truck posture display and control method based on a 3D model, so as to solve the defects in the prior art.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a method for displaying and controlling a posture of a pump truck based on a 3D model, which is applied to the pump truck and includes:
receiving a moving instruction sent by an upper computer and analyzing a message;
executing the instruction action and collecting execution data;
sending execution data to an upper computer;
the upper computer is used for receiving a confirmation instruction and a movement instruction sent by the 3D model, sending the movement instruction to the pump truck, and controlling the 3D model to move after receiving execution data; the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer.
Further, the 3D model has three modes when receiving the movement instruction, which are:
directly dragging a pump truck arm or a truck body in the 3D model through a mouse;
clicking a pump truck arm or a truck body in the selected 3D model through a mouse, then clicking a control area button to adjust the angle of the selected part, and synchronously moving the model along with the clicking operation;
and selecting a pump truck arm or a truck body in the 3D model by clicking a mouse, inputting an angle value in a set area, and synchronously moving the model along with the change of the angle.
Further, after the 3D model receives the moving instruction and the confirmation instruction, the 3D model restores to the actual posture of the pump truck, and then sends the confirmation instruction to the upper computer.
Furthermore, the 3D model has a control mode and a display mode, the movement instruction is received and fed back in the control mode, the movement is carried out along with execution data sent by the pump truck in the display mode, the actual posture of the pump truck is displayed in real time, and when the 3D model finishes receiving the movement instruction, the 3D model is timely restored to the actual posture of the pump truck.
Further, the execution data includes various working condition data and various angle data of the pump truck.
In a second aspect, the present invention provides a pump truck posture display and control system based on a 3D model, including:
the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer;
the pump truck is used for receiving the moving instruction, analyzing the message, executing the instruction action, collecting the execution data and sending the execution data to the upper computer;
and the upper computer is used for sending the moving instruction to the pump truck, analyzing the received execution data and controlling the 3D model to move.
In a third aspect, the present invention provides a 3D model-based posture display and control apparatus for a pump truck, which is applied to a pump truck, and includes:
the receiving unit is used for receiving the mobile instruction sent by the upper computer and analyzing the message;
the execution unit is used for executing the instruction action and collecting execution data;
the sending unit is used for sending execution data to the upper computer;
the upper computer is used for receiving a confirmation instruction and a movement instruction sent by the 3D model, sending the movement instruction to the pump truck, and controlling the 3D model to move after receiving execution data; the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer.
In a fourth aspect, the invention provides a pump truck posture display and control device based on a 3D model, comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any of the above.
In a fifth aspect, the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any of the methods described above.
Compared with the prior art, the invention has the following beneficial effects:
after the 3D model is introduced, the limitation that only the visual angle of a driver can be simulated in remote control is broken through, the three-dimensional observation visual angle of the posture of the vehicle is increased, the driver can conveniently grasp the posture of the vehicle, meanwhile, the method has the function of controlling the posture of the pump truck, the operating posture of the pump truck can be controlled in a mode of controlling the 3D model in some complex terrains which are difficult to control through a control platform, the control mode of the engineering machinery vehicle is increased and optimized, and finally, the method for displaying and controlling the posture of the pump truck based on the 3D model has good portability and can be conveniently applied to remote control systems of other types of engineering machinery vehicles.
Drawings
Fig. 1 is a schematic diagram of a 3D model-based pump truck attitude display and control method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
The embodiment introduces a method for displaying and controlling a posture of a pump truck based on a 3D model, which is applied to the pump truck and includes:
receiving a moving instruction sent by an upper computer and analyzing a message;
executing the instruction action and collecting execution data;
sending execution data to an upper computer;
the upper computer is used for receiving a confirmation instruction and a movement instruction sent by the 3D model, sending the movement instruction to the pump truck, and controlling the 3D model to move after receiving execution data; the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer.
The method for displaying and controlling the posture of the pump truck based on the 3D model provided by the embodiment specifically relates to the following steps:
step one, a user controls a 3D model to perform moving operation;
if the model is confirmed, the model is restored, the upper computer sends the moving instruction, and the second step is executed;
if not, the model is restored;
step two, the pump truck receives the control command and analyzes the message;
thirdly, the pump truck executes the instruction action and sends the data collected by the sensor to an upper computer;
and step four, the upper computer analyzes the received sensor data and controls the pump truck model to move.
Preferably, in the step one, the user can implement the moving operation of the pump truck model in three ways:
1) directly dragging a pump truck arm or a truck body in the 3D model by a mouse;
2) clicking a pump truck arm or a pump truck body in the selected 3D model by a mouse, then clicking a control area button to adjust the angle of the selected part, and synchronously moving the model along with the clicking operation;
3) clicking a pump truck arm or a truck body in the selected 3D model by a mouse, inputting an angle value in a set area, and synchronously moving the model along with the change of the angle;
after the operation is finished, clicking to confirm, restoring the model into the actual posture of the pump truck, and sending a moving instruction to the vehicle end by the upper computer;
after the operation is finished, clicking is cancelled, the model is restored to the actual posture of the pump truck, and the upper computer does not execute any operation.
Preferably, in step one, the reason for model restoration is that:
when the user controls the 3D model to move, the model is in a control mode and moves along with the operation of the user to feed back the operation of the user. And the model is in a display mode at other moments, and moves along with the angle data sent by the pump truck to express the actual attitude of the pump truck in real time. So when the user finishes controlling the model, the model is restored to the actual posture of the pump truck in time.
Preferably, in the fourth step, the data received by the upper computer includes various working condition data of the pump truck, various angle data and the like, the angle data is extracted, and the corresponding part of the 3D model is controlled to perform rotation operation.
The invention is further described by the following specific embodiments with reference to the attached drawings.
As shown in fig. 1, according to the method for displaying and controlling the posture of the pump truck based on the 3D model, a user controls the model to move in any one of three ways, after clicking confirmation, the model is restored to the actual posture of the pump truck, and the upper computer sends a control instruction to the pump truck. If the click is cancelled, the model is restored to the actual posture of the pump truck.
After the pump truck receives the control command sent by the upper computer, the command is analyzed, and then the pump truck executes corresponding command action. Meanwhile, the pump truck sends the data of each sensor to the upper computer.
The host computer receives the data that the pump truck transmitted, analyzes data, to the angle data synchronization that will analyze out to the 3D model, makes its corresponding position rotate to the actual angle of pump truck. And if the analyzed data is non-angle data, not executing any operation.
Example 2
The embodiment provides a pump truck gesture show and control system based on 3D model, includes:
the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer;
the pump truck is used for receiving the moving instruction, analyzing the message, executing the instruction action, collecting the execution data and sending the execution data to the upper computer;
and the upper computer is used for sending the moving instruction to the pump truck, analyzing the received execution data and controlling the 3D model to move.
Example 3
This embodiment provides a pump truck gesture show and controlling means based on 3D model, is applied to the pump truck, includes:
the receiving unit is used for receiving the mobile instruction sent by the upper computer and analyzing the message;
the execution unit is used for executing the instruction action and collecting execution data;
the sending unit is used for sending execution data to the upper computer;
the upper computer is used for receiving a confirmation instruction and a movement instruction sent by the 3D model, sending the movement instruction to the pump truck, and controlling the 3D model to move after receiving execution data; the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer.
Example 4
The embodiment provides a pump truck posture display and control device based on a 3D model, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of:
receiving a moving instruction sent by an upper computer and analyzing a message;
executing the instruction action and collecting execution data;
sending execution data to an upper computer;
the upper computer is used for receiving a confirmation instruction and a movement instruction sent by the 3D model, sending the movement instruction to the pump truck, and controlling the 3D model to move after receiving execution data; the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer.
Example 5
The present embodiments provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of any of the methods:
receiving a moving instruction sent by an upper computer and analyzing a message;
executing the instruction action and collecting execution data;
sending execution data to an upper computer;
the upper computer is used for receiving a confirmation instruction and a movement instruction sent by the 3D model, sending the movement instruction to the pump truck, and controlling the 3D model to move after receiving execution data; the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A3D model-based pump truck posture display and control method is applied to a pump truck and is characterized by comprising the following steps:
receiving a moving instruction sent by an upper computer and analyzing a message;
executing the instruction action and collecting execution data;
sending execution data to an upper computer;
the upper computer is used for receiving a confirmation instruction and a movement instruction sent by the 3D model, sending the movement instruction to the pump truck, and controlling the 3D model to move after receiving execution data; the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer.
2. The 3D model-based pump truck attitude display and control method according to claim 1, characterized in that: when the 3D model receives the moving instruction, three modes are provided, which are respectively:
directly dragging a pump truck arm or a truck body in the 3D model through a mouse;
clicking a pump truck arm or a truck body in the selected 3D model through a mouse, then clicking a control area button to adjust the angle of the selected part, and synchronously moving the model along with the clicking operation;
and selecting a pump truck arm or a truck body in the 3D model by clicking a mouse, inputting an angle value in a set area, and synchronously moving the model along with the change of the angle.
3. The 3D model-based pump truck attitude display and control method according to claim 1, characterized in that: and after the 3D model receives the moving instruction and the confirmation instruction, the 3D model restores to the actual posture of the pump truck and then sends the confirmation instruction to the upper computer.
4. The 3D model-based pump truck attitude display and control method according to claim 1, characterized in that: the 3D model has a control mode and a display mode, the movement instruction is received and fed back in the control mode, the movement is carried out along with execution data sent by the pump truck in the display mode, the actual posture of the pump truck is displayed in real time, and when the 3D model finishes receiving the movement instruction, the 3D model restores the actual posture of the pump truck in time.
5. The 3D model-based pump truck attitude display and control method according to claim 1, characterized in that: the execution data comprises various working condition data and various angle data of the pump truck.
6. The utility model provides a pump truck gesture show and control system based on 3D model which characterized in that includes:
the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer;
the pump truck is used for receiving the moving instruction, analyzing the message, executing the instruction action, collecting the execution data and sending the execution data to the upper computer;
and the upper computer is used for sending the moving instruction to the pump truck, analyzing the received execution data and controlling the 3D model to move.
7. The utility model provides a pump truck gesture show and controlling means based on 3D model, is applied to the pump truck, its characterized in that includes:
the receiving unit is used for receiving the mobile instruction sent by the upper computer and analyzing the message;
the execution unit is used for executing the instruction action and collecting execution data;
the sending unit is used for sending execution data to the upper computer;
the upper computer is used for receiving a confirmation instruction and a movement instruction sent by the 3D model, sending the movement instruction to the pump truck, and controlling the 3D model to move after receiving execution data; the 3D model is used for receiving the moving instruction, judging whether a confirmation instruction is received or not, and if the confirmation instruction is received, sending the confirmation instruction and the moving instruction to the upper computer.
8. A3D model-based pump truck posture display and control device is characterized by comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of claims 1 to 5.
9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of the method of any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111577415.1A CN114281235A (en) | 2021-12-22 | 2021-12-22 | Pump truck posture display and control method based on 3D model |
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| CN202111577415.1A CN114281235A (en) | 2021-12-22 | 2021-12-22 | Pump truck posture display and control method based on 3D model |
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