CN115328213A - Engineering machinery attitude simulation method and device - Google Patents
Engineering machinery attitude simulation method and device Download PDFInfo
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Abstract
The invention relates to the technical field of attitude simulation, in particular to an engineering machinery attitude simulation method and device. A virtual coordinate system is arranged outside a simulation device, and the simulation device can move around the virtual coordinate system through calculation, so that the swinging and vibration feeling experienced by an operator in the driving process of the engineering machine can be reasonably simulated, and the unreality caused by the rotation of a traditional fixed shaft is avoided. The engineering machinery attitude simulation device is not provided with a fixed shaft, is driven by a telescopic rod, and can rotate around a virtual shaft by combining with the method. The invention can simulate the working state of the engineering machinery more truly, is convenient to be applied to remote driving and simulated driving and improves the driving feeling.
Description
Technical Field
The invention relates to the technical field of attitude simulation, in particular to an engineering machinery attitude simulation method and device.
Background
In the engineering machine operation in-process, the gesture of equipment can change constantly, for example, the excavator is in the course of the work, when receiving the influence of topography change, the atress of the excavator arm of motion also constantly changes, and then can make the gesture of excavator constantly change, produce various irregular rocking, these rocks mainly have received external environment's influence, so can not express through an accurate mathematical model. In the remote driving or simulation teaching process of the excavator, related personnel need to sit on the corresponding devices to operate, and control the actual vehicle or the simulated vehicle to move.
In the real operation process of the engineering machinery, the gravity center of a driver does not coincide with the gravity center of the engineering machinery, even the difference is very large, so that the posture change felt by the driver on the engineering machinery is not simple rotation around a certain axis, but is large swing of the driver around a certain point in space. In order to solve the problems and simulate the change of the posture sensed by a driver in the motion process of the engineering machinery more truly, the invention provides an engineering machinery posture simulation method and a simulation device.
Disclosure of Invention
The engineering machinery attitude simulation method and the engineering machinery attitude simulation device can simulate the real feeling of an operator in the engineering machinery operation process in a real way, and can provide a real operation experience for the operator by combining with a remote driving device or a simulation teaching device.
In order to achieve the above object, an aspect of the present invention provides an engineering machine attitude simulation apparatus, including: motion platform, telescopic link, base.
The base is a flat plate structure, it is connected with three to articulate on the base the telescopic link, three the axis of the lower extreme articulated shaft of telescopic link is tangent with same circle, every the upper end of telescopic link is connected with universal connector, and is three universal connector is connected with jointly the motion platform, and is three universal connector's fixed position is on the sideline of same circle, and is three the centre of a circle of universal connector place circle and three the centre of a circle of telescopic link lower extreme place circle is on the same root axis on perpendicular to ground, the main part of motion platform is the slab construction.
Furthermore, six belt seat bearings of three groups are arranged on the base, the belt seat bearings are fixed on the base, each group of belt seat bearings are tangent to the same circle along the axis, and each group of belt seat bearings clamp one telescopic rod together, so that the telescopic rod can rotate freely on the base.
Further, the universal connector can be selected from a universal joint, a Hooke's joint or a ball joint.
Further, the universal connector is connected with the motion platform at a position, where the height of the motion platform is higher than the height of the motion platform at other positions.
Furthermore, the telescopic rod is selected to be an electric telescopic cylinder.
In addition, in order to be combined with the simulation method, the engineering machinery attitude simulation device further comprises:
and the input module is used for manually inputting the position of the virtual coordinate system and the coordinate points of the telescopic rod and the operator, and is also used for manually or automatically inputting the real-time rotation angle around each coordinate axis.
And the data processing module is used for calculating according to the virtual coordinate system, the coordinate points and the rotating angle to obtain the movement point positions of the telescopic rod after movement transformation and the movement length variable quantity of the telescopic rod.
And the driving module drives the telescopic rod to make corresponding motion according to the information processed by the data processing module.
The technical scheme of another aspect of the invention also provides an engineering machinery attitude simulation method, which comprises the following steps:
according to the models and the sizes of different engineering machines, a virtual coordinate system is established outside the simulation device, and the relative position coordinates of all parts of the simulation device are determined, wherein the relative positions are the same as those of the actual engineering machines.
The model of the engineering machinery needing attitude simulation is selected, a first rectangular coordinate system is established by taking the motion center of the engineering machinery as an original point, the principle of a left-handed system is adopted, the main motion direction of the engineering machinery is a Z axis, and the vertical direction is an upward Y axis.
The position of the operator, which should be occupied, is marked in a first rectangular coordinate system.
A point is set artificially on the simulation device and used as the gravity center position of a person sitting on the simulation device, a second rectangular coordinate system is established by the point, the left-handed system principle is adopted, and an operator mainly checks that the direction is a Z 'axis and the vertical direction is an upward Y' axis.
And marking the connecting position of each telescopic rod and the motion platform in a second rectangular coordinate system.
And superposing a second rectangular coordinate system in the first rectangular coordinate system, wherein the X direction is the same as and parallel to the X ' direction, the Y direction is the same as and parallel to the Y ' direction, the Z direction is the same as and parallel to the Z ' direction, the points taken by the operator coincide, and the corresponding points of the telescopic rod in the second rectangular coordinate system are converted into the first rectangular coordinate system.
The rotation angle around each coordinate axis of the virtual coordinate system is measured according to a space angle sensor which is installed on the engineering machinery in advance, or the space rotation angle is artificially determined.
And carrying out coordinate point rotation calculation according to the coordinates and the rotation angle of each initial position of the simulation device relative to the virtual coordinate system to obtain the coordinates of the relative positions of each point after the angle change.
And converting the upper end connecting position coordinates of each telescopic rod of the simulation device into column vectors.
And multiplying the column vector of the upper end connecting position coordinate of the telescopic rod of the simulation device by the motion rotation matrix around the coordinate dots to the right to obtain the connecting position coordinate of each telescopic rod after motion.
According to the coordinates of the installation position of the tail end of the telescopic rod of the simulation device relative to the virtual coordinate system and the coordinates of the installation position of the top end of the telescopic rod relative to the virtual coordinate system before and after the angle change, the length variation of the telescopic rod before and after the angle change is calculated, and the telescopic rod makes corresponding changes.
It should be noted that, in the process of measuring the rotation angles around the coordinate axes of the virtual coordinate system according to the spatial angle sensor installed on the construction machine in advance or artificially determining the spatial rotation angles, if the rotation degrees of freedom are less than 3, one or more rotation angles are always 0.
Compared with the prior art, the invention has the beneficial effects that:
(1) The utility model provides an engineering machine tool gesture analogue means, through the mutual coordination between many telescopic links and the length difference change, can realize the motion of a plurality of degrees of freedom, have better flexibility, and then can simulate out the different motion state among the various different engineering machine tool motion processes, the motion of engineering machine tool is the motion of a plurality of degrees of freedom in the space, the motion mode has uncertainty, and in the machinery operation process, the operating personnel focus does not coincide with the operation focus of machinery, operating personnel is not a pivoted process in engineering machine, most of the time is a in-process that is swung, so the real-time motion state of engineering machine tool can not comparatively accurate be simulated out in the simulation of conventional dead axle, in this device, the motion mode of telescopic link has been adopted, make the motion process of this device no longer be a dead axle motion, but can change according to actual need, have very strong flexibility, and the effect of actual use is more close to the process of driving engineering machine tool at any time, experience to operating personnel who has the experience of operating engineering machine tool experience of year, can be used in the operation knowledge in the new operation process fast.
(2) An in-vitro virtual coordinate system is set, and an in-vitro virtual rotation coordinate axis is set for a simulation device, so that the simulation device can rotate by depending on the virtual axis, and the method can meet the actual condition that the center of gravity of the machine does not coincide with the center of gravity of an operator in the actual engineering machine driving process to the maximum extent. In addition, the origin position of the virtual coordinate system can be set independently according to different vehicle types, the flexibility is strong, and the virtual coordinate system can be applied to various different engineering machinery types and engineering machinery models. In the simulation process, operating personnel's action is not simple rotation, but throws around the point in the external space for each telescopic link has different flexible length, can the change of stroke multiple difference, and maneuverability is strong.
Drawings
FIG. 1 is a schematic structural diagram of an engineering machine attitude simulation apparatus according to the present invention;
FIG. 2 is an exploded view of an attitude simulation apparatus for construction machinery according to the present invention;
FIG. 3 is a schematic block diagram of an engineering machine attitude simulation apparatus according to the present invention;
FIG. 4 is a flow chart of a method for simulating an attitude of a construction machine according to the present invention;
fig. 5 is a schematic diagram of setting a coordinate position in the engineering machine attitude simulation method according to the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 5 is:
1-a motion platform, 101-a mounting hole, 2-a telescopic rod, 201-a universal connector, 202-a connecting ring, 3-a base and 301-a bearing with a seat.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
A construction machine attitude simulation apparatus according to some embodiments of the present invention will be described with reference to fig. 1 to 2.
An engineering machinery attitude simulation device comprises a motion platform 1, a telescopic rod 2 and a base 3.
Motion platform 1, the main part is a square frame rack structure, forms through tubular product and panel welding, and annular distribution has three mounting hole 101 on motion platform 1, and the height that highly will be higher than motion platform 1 other positions of mounting hole 101 position on motion platform 1 can make motion platform 1's whole height reduce, makes things convenient for operating personnel up-and-down motion platform 1 for operating personnel has certain security in the use.
The telescopic rods 2 are telescopic equipment capable of achieving stretching under external capabilities of electric power, hydraulic pressure and the like, the telescopic rods 2 are selected to be electric telescopic rods, the number of the telescopic rods is three, the upper end of each telescopic rod 2 is connected with a universal connector 201, the universal connectors 201 are selected to be ball joints, the ball joints have good angle compensation performance, the upper ends of the universal connectors 201 are connected with the installation holes 101 through bolts, the three telescopic rods 2 are distributed annularly, the telescopic rods 2 are higher in connection position with the motion platform 1, a part of height of each telescopic rod 2 is wrapped in the motion platform 1, the height of the motion platform 1 is reduced, the lower end of each telescopic rod 2 is provided with a connection ring 202, and the axial direction of each connection ring 202 is tangent to a circular ring where each telescopic rod 2 is located.
As shown in fig. 3, in order to ensure the smooth use of the simulation apparatus, the simulation apparatus further comprises:
the input module 401 is used for manually inputting the position of a virtual coordinate system and coordinate points of a telescopic rod and an operator, presetting the positions before use to meet diversified use requirements, and manually or automatically inputting the rotation angle around each coordinate axis in real time, so that the device can perform necessary calculation according to the input parameters;
the data processing module 402 is used for calculating according to the virtual coordinate system, the coordinate point and the rotation angle to obtain the movement point position of the telescopic rod after movement transformation and the movement length variation of the telescopic rod, so as to realize data processing;
and the driving module 403 is used for driving the telescopic rod to make corresponding movement according to the information processed by the data processing module and used as an execution mechanism.
A method for simulating the attitude of a construction machine is shown in FIG. 4, and comprises the following steps:
s101, establishing a virtual coordinate system outside the simulation device according to the models and sizes of different engineering machines, and determining the relative position coordinates of each part of the simulation device, wherein the relative positions are the same as those of the actual engineering machines;
s102, measuring the rotation angle around each coordinate axis of a virtual coordinate system according to a space angle sensor which is installed on the engineering machinery in advance, or artificially determining the space rotation angle;
s103, according to the coordinates and the rotation angle of each initial position of the simulation device relative to the virtual coordinate system, performing coordinate point rotation calculation to obtain the relative position coordinates of each point after the angle change;
s104, calculating the length variation of the telescopic rod before and after the angle change according to the coordinates of the mounting position of the tail end of the telescopic rod of the simulation device relative to the virtual coordinate system and the coordinates of the mounting position of the top end of the telescopic rod before and after the angle change relative to the virtual coordinate system, and making corresponding changes by the telescopic rod.
In the actual use process, the specific operation steps and the method are as follows:
step a, selecting the type of the engineering machinery needing attitude simulation to obtain the relative spatial position relationship between the motion center of the engineering machinery of the type and the riding position of an operator, establishing a first rectangular coordinate system OXYZ by taking the motion center of the engineering machinery as an origin O (0,0,0), and adopting a left-handed system principle, wherein the main motion direction of the engineering machinery is a Z axis, and the vertical direction is an upward Y axis.
Taking a certain type of excavator as an example, a spatial rectangular coordinate system as shown in fig. 5 is established.
And b, marking the position of the operator to be seated in a first rectangular coordinate system OXYZ, wherein the position coordinate of the operator is A (x, y, z), and the actual position is taken as the standard.
In this embodiment, the position coordinate of the operator is set to A (-1,0,1).
Step c, manually setting a point P on the simulation device of the invention as the gravity center position of the passenger on the simulation device, determining the passenger riding position according to the requirement, establishing a second rectangular coordinate system PX ' Y ' Z ' by taking P as an origin point P (0,0,0), and adopting a left-hand system principle, wherein an operator mainly checks that the direction is a Z ' axis and the vertical direction is upwards Y ';
d, marking the connecting position of each telescopic rod and the motion platform in a second rectangular coordinate system PX ' Y ' Z ', wherein the coordinate of the connecting position of the upper end of each telescopic rod is I i (x i ，y i ，z i ) I =1, 2, 3 … …, i is less than or equal to the number of the telescopic rods;
in this embodiment, the coordinates of the connecting positions of the upper ends of the three telescopic rods are respectively set as I 1 (0，0，0.5)，I 2 (-0.5，0，0)，I 3 (0.5，0，0)。
E, superposing a second rectangular coordinate system X 'Y' Z 'in a first rectangular coordinate system XYZ, wherein the X direction is the same as and parallel to the X' direction, the Y direction is the same as and parallel to the Y 'direction, the Z direction is the same as and parallel to the Z' direction, P (0,0,0) is superposed with A (X, Y, Z), and connecting the upper end of each telescopic rod with a position coordinate I i (x i ，y i ，z i ) Converting the position of each telescopic rod into a first rectangular coordinate system to obtain the position of each telescopic rod in the first rectangular coordinate system, wherein the position is I i ’(x i ’，y i ’，z i ’)；
Then, in this embodiment, the transformed coordinate is I 1 ’(-1，0，1.5)，I 2 ’(-1.5，0，1)，I 1 ’(-0.5，0，1)。
Step f, in remote driving, acquiring a rotation angle beta around an X axis, a rotation angle alpha around a Y axis and a rotation angle gamma around a Z axis in the movement process of the engineering machinery through a sensor, and setting a clockwise direction as a positive direction of the rotation angle; or in the process of simulated driving, the two three rotation angles alpha, beta and gamma are manually or automatically input and are limited to different achievable degrees of freedom of different simulation devices, and in some simulation devices, one or more of the three rotation angles alpha, beta and gamma may be constantly 0;
in the present embodiment, γ is set to 30 °, i.e., 30 ° clockwise around the Z axis, and α and β are constantly 0 °.
Step g, connecting the upper end of each existing telescopic rod with a position coordinate I i ’(x i ’，y i ’，z i ') into a column vector,
then in the present embodiment it is possible that,
step h, regarding the motion process of the engineering machinery as a process of sequentially rotating gamma, beta and alpha around Z, X, Y, and determining the motion matrix of the motion of the engineering machinery as
The motion matrix of this motion is
Step I, connecting the upper end of each telescopic rod with a column vector I of a position coordinate i Multiplying the motion matrix R right to obtain the coordinate I of the connection position of each telescopic rod after motion i ”，I i ”＝R I i ', the upper end connection position coordinate I of each telescopic rod after movement can be obtained i ”(x i ”，y i ”，z i ”)。
The position coordinates after transformation by motion are: I.C. A 1 ”(-0.866，-0.5，1.5)，I 2 ”(-1.299，-0.75，1)，I 3 ”(-0.433，-0.25，1)。
Step j, in the first stepIn an angular coordinate system OXYZ, determining a coordinate J of the connecting position of the lower end of each telescopic rod i (u i ，v i ，w i ) I =1, 2, 3 … …, i is less than or equal to the number of the telescopic rods, and J i 、I i 、I i ’、I i "one-to-one correspondence.
In this embodiment, let J 1 (-1，-1，1.5)，J 2 (-1.5，-1，1)，J 3 (-0.5，-1，1)。
K, calculating the length of the telescopic rod before movement
And length of telescopic rod after movement
Further, the length variation quantity delta L of each telescopic rod is calculated i ＝L i '-L i The extending direction of the telescopic rod is used as positive.
In this embodiment, it can be known that the lengths of the telescopic rods before movement are respectively: l is 1 ＝1，L 2 ＝1，L 3 =1. The length of telescopic link is respectively after the motion: l is a radical of an alcohol 1 ’＝0.5203，L 2 ’＝0.3208，L 3 ' =2588, change in length is: Δ L 1 ＝-0.4797，ΔL 2 ＝-0.6792，ΔL 3 = 0.7412, which is in accordance with the objective practice, in this case, the telescopic rod 2 performs a corresponding action, and can experience the same effect as that of a real engineering machine.
The length variation of each telescopic rod 2 in the simulation process can be obtained through the steps of the method, and the simulation of the attitude of the engineering machinery can be realized through the cooperation of the plurality of telescopic rods and the real-time updating of the length of the telescopic rods 2 according to the requirement.
In the present invention, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance: the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Throughout this specification, the schematic representations of the terms used above do not necessarily refer to the same implementation or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the present invention, the terms "upper", "lower", "left", "right", "middle", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for simulating the attitude of an engineering machine is characterized by comprising the following steps:
establishing a virtual coordinate system outside the simulation device according to the models and sizes of different engineering machines, and determining the relative position coordinates of each part of the simulation device, wherein the relative positions are the same as those of the actual engineering machines;
measuring the rotation angle around each coordinate axis of a virtual coordinate system according to a space angle sensor which is installed on the engineering machinery in advance, or artificially determining the space rotation angle;
according to the coordinates and the rotation angle of each initial position of the simulation device relative to the virtual coordinate system, carrying out coordinate point rotation calculation to obtain the coordinates of the relative positions of each point after the angle change;
according to the coordinates of the installation position of the tail end of the telescopic rod of the simulation device relative to the virtual coordinate system and the coordinates of the installation position of the top end of the telescopic rod relative to the virtual coordinate system before and after the angle change, the length variation of the telescopic rod before and after the angle change is calculated, and the telescopic rod makes corresponding changes.
2. The method of claim 1, wherein establishing a virtual coordinate system external to the simulation device, determining the relative positional coordinates of the parts of the simulation device, comprises:
selecting the type of the engineering machinery needing posture simulation, establishing a first rectangular coordinate system by taking the motion center of the engineering machinery as an original point, and adopting a left-handed system principle, wherein the main motion direction of the engineering machinery is a Z axis, and the vertical direction is an upward Y axis;
marking the position where the operator should sit in a first rectangular coordinate system;
manually setting a point on the simulation device as the gravity center position of a person sitting on the simulation device, establishing a second rectangular coordinate system by using the point, and adopting a left-hand system principle, wherein an operator mainly checks that the direction is a Z 'axis and the vertical direction is an upward Y' axis;
marking the connecting position of each telescopic rod and the motion platform in a second rectangular coordinate system;
and superposing a second rectangular coordinate system in the first rectangular coordinate system, wherein the X direction is the same as and parallel to the X ' direction, the Y direction is the same as and parallel to the Y ' direction, the Z direction is the same as and parallel to the Z ' direction, the points taken by the operator coincide, and the corresponding points of the telescopic rod in the second rectangular coordinate system are converted into the first rectangular coordinate system.
3. The method according to claim 1, wherein the calculating of the rotation of the coordinate points according to the coordinates and the rotation angle of the initial position of each point of the simulation device relative to the virtual coordinate system to obtain the coordinates of the relative position of each point after the change of the angle comprises:
converting the upper end connecting position coordinates of each telescopic rod of the simulation device into column vectors;
and multiplying the column vector of the upper end connecting position coordinate of the telescopic rod of the simulation device by the motion rotation matrix around the coordinate dots to the right to obtain the connecting position coordinate of each telescopic rod after motion.
4. The method as claimed in claim 1, wherein the rotation angle is measured around each coordinate axis of the virtual coordinate system based on spatial angle sensors previously installed on the construction machine, or one or more rotation angles are constantly 0 in a simulation apparatus having a rotation degree of freedom of less than 3 in the process of artificially determining the spatial rotation angle.
5. An attitude simulation device for construction machinery, comprising:
the device comprises a motion platform, a telescopic rod and a base;
the articulated three that is connected with on the base the telescopic link, three the axis of telescopic link lower extreme articulated shaft is tangent with same circle, every the upper end of telescopic link is connected with universal connector, and is three universal connector is connected with jointly the motion platform is three universal connector's fixed position is on same ring, and is three the centre of a circle and the three of universal connector place ring the centre of a circle of telescopic link lower extreme place circle is on the same root axis on perpendicular to ground.
6. The attitude simulation apparatus for construction machinery according to claim 5, wherein:
six rolling bearings of three groups are arranged on the base, the rolling bearings are fixed on the base, each rolling bearing is tangent to the same ring, and each rolling bearing is clamped by one telescopic rod in a co-action mode.
7. The attitude simulation apparatus for construction machinery according to claim 5, wherein:
the universal connector is selected from a universal joint, a Hooke's joint or a ball joint.
8. The attitude simulation apparatus for construction machinery according to claim 5, wherein:
the height of the moving platform at the position where the universal connector is connected with the moving platform is higher than that of the moving platform at other positions.
9. The attitude simulation apparatus for construction machinery according to claim 5, wherein:
the telescopic rod is an electric telescopic cylinder.
10. A working machine attitude simulation apparatus according to claim 5, comprising:
the input module is used for manually inputting the position of the virtual coordinate system and the coordinate points of the telescopic rod and the operator, and is also used for manually or automatically inputting the rotation angle around each coordinate axis in real time;
the data processing module is used for calculating according to the virtual coordinate system, the coordinate points and the rotating angle to obtain the movement point positions of the telescopic rod after movement transformation and the movement length variation of the telescopic rod;
and the driving module drives the telescopic rod to make corresponding movement according to the information processed by the data processing module.
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