CN114281235B - 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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Abstract
The invention discloses a pump truck posture display and control method based on a 3D model, which is applied to a pump truck and comprises the following steps: receiving a mobile instruction sent by an upper computer and analyzing a message; executing instruction actions and collecting execution data; transmitting execution data to the upper computer; the upper computer is used for receiving the confirmation instruction and the movement instruction sent by the 3D model, sending the movement instruction to the pump truck at the same time, and controlling the 3D model to move after receiving the 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 posture of the pump truck, and in some complex terrains which are difficult to control by the control console, the mode of controlling the 3D model can be utilized to control the operation posture of the pump truck, 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, the acceleration of industrialization is accelerated, and the equipment networking in the engineering machinery industry is widely applied to actual 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 a current main solution.
The remote control system generally comprises the following parts:
firstly, cameras with multiple angles are arranged on engineering machinery vehicles, so that a view angle in a real cockpit is provided for a remotely controlled driver;
Secondly, a remote control console is designed to be close to a real cockpit under the general condition;
then, the upper computer software is used for displaying video and working condition data and is matched with the control console to give a driver a feeling of on-site control;
finally, the functions of on-site sound, vibration feedback and the like are used for simulating a real environment.
In a conventional engineering vehicle remote control system, a remote driver operates on a console to simulate a real driving environment by observing a video on an upper computer, and remotely controls an engineering vehicle operation. However, for monitoring the posture of the engineering machinery vehicle, the operator is far away from the dangerous site and can only view the operator through a few sensor values, so that the visual view through a third operator is lacking. At the same time, remote control in a complex work environment is a challenge for the 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, which aims to solve the defects in the prior art.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a method for displaying and controlling a pump truck posture based on a 3D model, which is applied to a pump truck, and includes:
receiving a mobile instruction sent by an upper computer and analyzing a message;
executing instruction actions and collecting execution data;
Transmitting execution data to the upper computer;
The upper computer is used for receiving the confirmation instruction and the movement instruction sent by the 3D model, sending the movement instruction to the pump truck at the same time, and controlling the 3D model to move after receiving the 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, when the 3D model receives the movement instruction, three modes 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, clicking a button of a control area to perform angle adjustment on the selected part, and synchronously moving the model along with clicking operation;
and clicking and selecting a pump truck arm or a truck body in the 3D model by a mouse, inputting an angle value in a setting area, and synchronously moving the model along with the angle change.
Further, after the 3D model receives the moving instruction and the confirmation instruction, the 3D model is restored to the actual posture of the pump truck, and then the confirmation instruction is sent to the upper computer.
Further, the 3D model is provided with a control mode and a display mode, a moving instruction is received in the control mode, feedback is carried out, the 3D model moves 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 moving instruction, the 3D model is restored to the actual posture of the pump truck in time.
Further, the execution data comprise 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 movement instruction to the pump truck, analyzing the received execution data and controlling the movement of the 3D model.
In a third aspect, the present invention provides a pump truck posture display and control device based on a 3D model, 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 the execution data;
the sending unit is used for sending the execution data to the upper computer;
The upper computer is used for receiving the confirmation instruction and the movement instruction sent by the 3D model, sending the movement instruction to the pump truck at the same time, and controlling the 3D model to move after receiving the 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, which comprises a processor and a storage medium;
The storage medium is used for storing instructions;
The processor is operative according to the instructions to perform the steps of the method according to any one of the preceding claims.
In a fifth aspect, the present 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 beneficial effects that:
According to the invention, 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 visual angle of the posture of the vehicle is increased, the driver can grasp the posture of the vehicle conveniently, meanwhile, the three-dimensional visual angle control system has the function of controlling the posture of the pump truck, the operation 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 console, the control mode of the engineering machinery vehicle is increased and optimized, and finally, the pump truck posture display and control method 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 pump truck posture display and control method based on a 3D model of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1
The embodiment introduces a pump truck posture display and control method based on a 3D model, which is applied to a pump truck and comprises the following steps:
receiving a mobile instruction sent by an upper computer and analyzing a message;
executing instruction actions and collecting execution data;
Transmitting execution data to the upper computer;
The upper computer is used for receiving the confirmation instruction and the movement instruction sent by the 3D model, sending the movement instruction to the pump truck at the same time, and controlling the 3D model to move after receiving the 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 pump truck posture display and control method based on the 3D model provided by the embodiment specifically relates to the following steps:
step one, a user controls a 3D model to carry out moving operation;
if the model is confirmed to be restored, the upper computer sends the moving instruction and executes the second step;
if not, restoring the model;
step two, the pump truck receives the control instruction and analyzes the message;
step three, the pump truck executes instruction actions and sends data acquired by the sensor to the upper computer;
and fourthly, analyzing the received sensor data by the upper computer and controlling the pump truck model to move.
Preferably, in the first step, the user may implement the moving operation of the pump truck model in three ways:
1) The mouse directly drags a pump truck arm or a truck body in the 3D model;
2) Clicking a pump arm or a vehicle body in the selected 3D model by a mouse, clicking a button of a control area to adjust the angle of the selected part, and synchronously moving the model along with 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 angle change;
after the operation is finished, clicking to confirm, recovering 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 canceled, the model is restored to the actual posture of the pump truck, and the upper computer does not execute any operation.
Preferably, in the first step, the reason for model restoration is that:
When the user controls the 3D model to perform moving operation, the model is in a control mode, and the user is moved along with the operation of the user to feed back the operation of the user. And the other moment models are in a display mode, and move along with angle data sent by the pump truck to represent the actual pump truck posture in real time. So when the user ends the control of 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, various angle data and the like of the pump truck, the angle data is extracted, and the corresponding part of the 3D model is controlled to perform rotation operation.
The invention is further illustrated by the following examples, in conjunction with the accompanying drawings.
As shown in FIG. 1, in the pump truck posture display and control method based on the 3D model, a user controls the movement of the model in any one of three modes, 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 canceled, the model is restored to the actual pose of the pump truck.
After the pump truck receives the control instruction sent by the upper computer, the instruction is analyzed, and then the pump truck executes corresponding instruction actions. Meanwhile, the pump truck sends the data of each sensor to the upper computer.
The upper computer receives the data transmitted by the pump truck, analyzes the data, synchronizes the analyzed angle data to the 3D model, and enables the corresponding part of the angle data to rotate to the actual angle of the pump truck. If the parsed data is non-angle data, no operation is performed.
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 movement instruction to the pump truck, analyzing the received execution data and controlling the movement of the 3D model.
Example 3
The 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 the execution data;
the sending unit is used for sending the execution data to the upper computer;
The upper computer is used for receiving the confirmation instruction and the movement instruction sent by the 3D model, sending the movement instruction to the pump truck at the same time, and controlling the 3D model to move after receiving the 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 the following:
receiving a mobile instruction sent by an upper computer and analyzing a message;
executing instruction actions and collecting execution data;
Transmitting execution data to the upper computer;
The upper computer is used for receiving the confirmation instruction and the movement instruction sent by the 3D model, sending the movement instruction to the pump truck at the same time, and controlling the 3D model to move after receiving the 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 embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any one of the methods described below:
receiving a mobile instruction sent by an upper computer and analyzing a message;
executing instruction actions and collecting execution data;
Transmitting execution data to the upper computer;
The upper computer is used for receiving the confirmation instruction and the movement instruction sent by the 3D model, sending the movement instruction to the pump truck at the same time, and controlling the 3D model to move after receiving the 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 foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (6)
1. A pump truck posture display and control method based on a 3D model is applied to a pump truck, and is characterized by comprising the following steps:
receiving a mobile instruction sent by an upper computer and analyzing a message;
executing instruction actions and collecting execution data;
Transmitting execution data to the upper computer;
The upper computer is used for receiving the confirmation instruction and the movement instruction sent by the 3D model, sending the movement instruction to the pump truck at the same time, and controlling the 3D model to move after receiving the 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;
when the 3D model receives a moving instruction, three modes are respectively as follows:
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, clicking a button of a control area to perform angle adjustment on the selected part, and synchronously moving the model along with clicking operation;
clicking and selecting a pump truck arm or a truck body in the 3D model through a mouse, inputting an angle value in a set area, and synchronously moving the model along with the angle change;
After the 3D model receives the moving instruction and the confirmation instruction, the 3D model is restored to the actual posture of the pump truck, and then the confirmation instruction is sent to the upper computer;
The 3D model is provided with a control mode and a display mode, a movement instruction is received in the control mode and fed back, the 3D model moves 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 restored to the actual posture of the pump truck in time.
2. The 3D model-based pump truck posture display and control method of claim 1, wherein: the execution data comprise various working condition data and various angle data of the pump truck.
3. Pump truck gesture show and control system based on 3D model, characterized by comprising:
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; when the 3D model receives a moving instruction, three modes are respectively as follows:
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, clicking a button of a control area to perform angle adjustment on the selected part, and synchronously moving the model along with clicking operation;
clicking and selecting a pump truck arm or a truck body in the 3D model through a mouse, inputting an angle value in a set area, and synchronously moving the model along with the angle change;
After the 3D model receives the moving instruction and the confirmation instruction, the 3D model is restored to the actual posture of the pump truck, and then the confirmation instruction is sent to the upper computer;
The 3D model is provided with a control mode and a display mode, in the control mode, a moving instruction is received and fed back, in the display mode, the 3D model moves along with execution data sent by the pump truck, the actual posture of the pump truck is displayed in real time, and when the 3D model finishes receiving the moving instruction, the 3D model is restored to the actual posture of the pump truck in time;
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 movement instruction to the pump truck, analyzing the received execution data and controlling the movement of the 3D model.
4. Pump truck posture display and control device based on 3D model is applied to the pump truck, 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 the execution data;
the sending unit is used for sending the execution data to the upper computer;
The upper computer is used for receiving the confirmation instruction and the movement instruction sent by the 3D model, sending the movement instruction to the pump truck at the same time, and controlling the 3D model to move after receiving the 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, wherein the 3D model has three modes when receiving the moving instruction, namely:
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, clicking a button of a control area to perform angle adjustment on the selected part, and synchronously moving the model along with clicking operation;
clicking and selecting a pump truck arm or a truck body in the 3D model through a mouse, inputting an angle value in a set area, and synchronously moving the model along with the angle change;
After the 3D model receives the moving instruction and the confirmation instruction, the 3D model is restored to the actual posture of the pump truck, and then the confirmation instruction is sent to the upper computer;
The 3D model is provided with a control mode and a display mode, a movement instruction is received in the control mode and fed back, the 3D model moves 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 restored to the actual posture of the pump truck in time.
5. The pump truck posture display and control device based on the 3D model is characterized by comprising a processor and a storage medium;
The storage medium is used for storing instructions;
The processor being operative according to the instructions to perform the steps of the method according to any one of claims 1-2.
6. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1-2.
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| CN202111577415.1A CN114281235B (en) | 2021-12-22 | 2021-12-22 | Pump truck posture display and control method based on 3D model |
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