CN212541070U - A3D flight control device for visitor experiences - Google Patents
A3D flight control device for visitor experiences Download PDFInfo
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- CN212541070U CN212541070U CN202021520720.8U CN202021520720U CN212541070U CN 212541070 U CN212541070 U CN 212541070U CN 202021520720 U CN202021520720 U CN 202021520720U CN 212541070 U CN212541070 U CN 212541070U
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Abstract
The utility model provides a 3D flight control device for visitor experiences, include: the control system and the aircraft device, the operation layer comprises a main control console; the control layer includes: the main controller adopts a redundancy design, the system bus network topology adopts an annular network structure, and a servo driver and distributed IO are combined into an annular network so as to enhance the fault-tolerant function of the bus network; the execution layer is composed of a servo drive system and distributed IO; the aircraft device comprises: the movable trolley is arranged on the cableway and is connected with the aircraft through the steel wire rope; the aircraft comprises: the simulated pterosaur component comprises a simulated pterosaur component, a CPU controller, a signal circuit, an action circuit and a sound circuit, wherein the CPU controller, the signal circuit, the action circuit and the sound circuit are arranged in the simulated pterosaur component, signals sent by a control system are received by the signal circuit and input to the CPU controller, commands are sent by the CPU controller to control the sound circuit, and then commands are sent to control the action circuit so as to realize action and sound synchronization.
Description
Technical Field
The utility model relates to an electrical control system technical field, in particular to 3D flight control device for visitor experiences.
Background
At present, in the project of travel, a plurality of projects can only be enjoyed by tourists, and the tourists cannot ride the ornamental flyers for experience. Such as: at present, many simulated pterosaurs exist in China, but the simulated pterosaurs can only be watched by tourists, but cannot carry the tourists to fly in scenic spots. This is because the manufacturers who produce the dinosaur-like audience experience products do not have the technology and philosophy to fly these experience products. The method for completing the mechanical flight not only has the process technology of manufacturing mechanical products, but also needs dynamic knowledge, a mechanical control technology, a computer programming technology and the like. There is no prior art flight system that can be used for a guest experience.
SUMMERY OF THE UTILITY MODEL
The purpose of the present invention is to solve at least one of the technical drawbacks.
Therefore, the utility model aims to provide a 3D flight control device for visitor experiences.
In order to achieve the above object, an embodiment of the utility model provides a 3D flight control device for visitor experiences, include: a control system and an aircraft device, wherein,
the control system adopts a layered control structure and comprises: an operation layer, a control layer and an execution layer;
the operation layer comprises: the main console adopts two industrial-grade tablet computers, and is provided with a professional Weiya software system, so that the two computers operate equipment simultaneously and are mutually active and standby;
the control layer includes: the main controller adopts a redundancy design, the system bus network topology adopts an annular network structure, and a servo driver and distributed IO are combined into an annular network so as to enhance the fault-tolerant function of the bus network;
the execution layer is composed of a servo drive system and distributed IO and is communicated with the main controller through an EtherCAT bus;
the aircraft device comprises: the movable trolley is arranged on the cableway and is further connected with the aircraft through the steel wire rope; the aircraft comprises: the system comprises a simulation pterosaur component, a CPU controller, a signal circuit, an action circuit and a sound circuit, wherein the CPU controller, the signal circuit, the action circuit and the sound circuit are arranged in the simulation pterosaur component, signals sent by the control system are received by the signal circuit and input to the CPU controller, then commands are sent by the CPU controller to control the sound circuit, and commands are sent to control the action circuit at the same time to realize action and sound synchronization;
wherein the action circuit comprises: the first driving motor and the speed reducer are arranged at the wings in the simulated pterosaur assembly, the second driving motor is arranged at the neck in the simulated pterosaur assembly, and the third driving motor is arranged at the head and the mouth in the simulated pterosaur assembly, wherein the motors of the first driving motor, the second driving motor and the third driving motor drive the main shaft to move so as to drive the gears and the chain gear to output power to the gears on the simulated pterosaur assembly through the reverse shaft and the chain to move up and down together, so that the flying effect of the simulated pterosaur assembly is realized;
the sound circuit includes: the audio amplifier comprises an audio amplifier integrated circuit, a decimal decoder, an audio transformer, a loudspeaker and an NPN transistor, wherein the output end of the audio amplifier integrated circuit is connected with the loudspeaker through a resistor and an inductor, the NPN transistor is connected with the decimal decoder, one side of the audio transformer is grounded, and the other side of the audio transformer is connected with a power amplifier circuit.
Furthermore, high strength aluminum alloy structure is installed additional in the wing of emulation pterosaur subassembly, by first driving motor provides power take off and passes through belt or chain with power transmission to high strength aluminum alloy structure motion to make the wing move from top to bottom.
Further, high strength aluminum alloy structure is installed additional to the inside neck of emulation pterosaur subassembly, second driving motor provides power take off and transmits power for high strength aluminum alloy structure motion through belt or chain to make the neck move from top to bottom and from side to side.
Further, the head and the inside high strength aluminum alloy structure that installs additional of mouth of emulation pterosaur subassembly, third driving motor provides power take off and transmits power for the motion of high strength aluminum alloy structure through belt or chain to make head side to side motion, mouth open and shut the motion.
According to the utility model discloses a 3D flight control device for visitor experience hoists the pterosaur to carry out digital programming control to the upper and lower all around motion of pterosaur, simulate out the sensation and the speed of real flight. The flying robot can fly a mechanical device which can not fly for information and can fly by people, which is the first time in China. Therefore, in the cultural tourist attraction, tourists can not only see the mechanical device but also ride the mechanical device, and the entertainment is experienced deeply.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a block diagram of a 3D flight control device for guest experience according to an embodiment of the present invention;
fig. 2 is a flight space configuration diagram of a 3D flight control device for guest experience according to an embodiment of the present invention;
fig. 3 is a block diagram of a 3D flight control device for guest experience according to an embodiment of the present invention;
fig. 4 is a kinetic analysis diagram of a 3D flight control device for guest experience according to an embodiment of the present invention;
fig. 5a and 5b are schematic views of the connection between the aircraft and the mobile cart according to an embodiment of the present invention;
FIG. 6 is a block diagram of an aircraft according to an embodiment of the present invention;
fig. 7 is a block diagram of an electrical control system according to an embodiment of the present invention;
fig. 8 is a circuit diagram of an electrical control system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
As shown in fig. 1, the utility model discloses a 3D flight control device for visitor experiences, include: a control system and an aircraft device.
The control system adopts a layered control structure and comprises: an operation layer, a control layer and an execution layer;
the operation layer comprises: the main console adopts two industrial-grade tablet computers, and is provided with a professional Weiya software system, so that the two computers operate equipment simultaneously and are mutually active and standby;
the control layer includes: the main controller adopts a redundancy design, the system bus network topology adopts an annular network structure, and a servo driver and distributed IO are combined into an annular network so as to enhance the fault-tolerant function of the bus network;
the execution layer is composed of a servo drive system and distributed IO and is communicated with the main controller through an EtherCAT bus;
as shown in fig. 5a and 5b, the aircraft device comprises: the movable trolley is arranged on the cableway and is further connected with the aircraft through the steel wire rope.
As shown in fig. 7, the aircraft includes: the simulated pterosaur component, a CPU controller arranged in the simulated pterosaur component, a signal circuit, an action circuit and a sound circuit, wherein the signal circuit is used for receiving a signal sent by a control system and inputting the signal to the CPU controller, then the CPU controller is used for sending a command to control the sound circuit, and then the command is sent to control the action circuit simultaneously so as to realize action and sound synchronization.
Further, as shown in fig. 8, the sound circuit includes: the audio amplifier comprises an audio amplifier integrated circuit, a decimal decoder, an audio transformer, a loudspeaker and an NPN transistor, wherein the output end of the audio amplifier integrated circuit is connected with the loudspeaker through a resistor and an inductor, the NPN transistor is connected with the decimal decoder, one side of the audio transformer is grounded, and the other side of the audio transformer is connected with a power amplifier circuit.
As shown in fig. 6, the operation circuit includes: the first driving motor and the speed reducer which are arranged at the wings in the simulation pterosaur assembly, the second driving motor which is arranged at the neck in the simulation pterosaur assembly, and the third driving motor which is arranged at the head and the mouth in the simulation pterosaur assembly are arranged, wherein the motors of the first driving motor, the second driving motor and the third driving motor drive the main shaft to move so as to drive the gears on the simulation pterosaur assembly to move up and down through the reverse shaft and the chain to output power to the gears on the simulation pterosaur assembly, so that the flight effect of the simulation pterosaur assembly is realized.
Specifically, the high-strength aluminum alloy structure is additionally arranged in the wings of the simulated pterosaur component, and the first driving motor provides power output and transmits the power to the high-strength aluminum alloy structure through a belt or a chain to move so that the wings move up and down.
The high-strength aluminum alloy structure is additionally arranged inside the neck of the simulation wing dragon assembly, the second driving motor provides power output and transmits power to the high-strength aluminum alloy structure through a belt or a chain to move, and therefore the neck moves up and down, left and right.
The head and the mouth of emulation pterosaur subassembly are inside installs high strength aluminum alloy structure additional, and the third driving motor provides power take off and transmits power for high strength aluminum alloy structure motion through belt or chain to make head side to side motion, mouth open and shut the motion.
The whole movement realizes synchronous movement of wings, neck movement and mouth opening and closing at two sides through software, and meanwhile, the output of sound realizes the simulation effect synchronously.
The utility model discloses a 3D flight control device for visitor experiences is used in visitor experiences in the text journey project, mainly comprises three major parts. 1, a tourist experiences the hanging technology of a mechanical device; 2, a mechanical device manufacturing part for the experience of the tourist on the text travel project; 3, a mechanical device for the tourists to experience in the text travel project and a control software part of the hanging technology.
Firstly, hanging technology: the tourist interactive experience flight cableway technology is completed by means of a mature and stable Weiya hanging system, the technology is mature, stable, safe and reliable, the Weiya technology is used in the fields of large-scale sports meeting opening and closing curtain type and landscape live performance for many years, and the technology is mature, stable, safe and reliable. The tourist takes the flight prop to fly in the air. The technology has the technical parameters that each cableway has the hanging weight of 500 kg./the horizontal flying speed of 1.5 meters/the lifting speed of 1 meter/second, and the requirements of the following standard specifications are met by designing, purchasing, manufacturing, installing and debugging:
safety of WH/T28-2007 stage mechanical bench equipment
Safety of equipment below WH/T36-2009 stage mechanical platform
WH/T27-2007 stage machinery acceptance and inspection program
WH/T37-2009 stage mechanical operation and maintenance guide rule
GB50278-2010 hoisting equipment installation engineering construction and acceptance specification
GB 5226.1-2008 mechanical electrical safety mechanical electrical apparatus part 1: general technical conditions
GB 5226.2-2002 mechanical safety machinery electrical equipment part 32: technical conditions of hoisting machinery
Other relevant chinese and industry standards for mechanical, electrical and control.
The mechanical tension limiting protection, the tension detection device travel switch and the over travel switch, and the loosening/rope disorder protection device are provided with an automatic guide steel wire rope arranging mechanism and a plurality of mechanical safety guarantee measures of a swinging pulley block.
The utility model discloses the system adopts ripe stable numerical control intelligence servo power system, only need after editing the procedure according to the suggestion a key start can, the system is from taking safety function such as load detection fault alarm. The open type automatic system based on the PC control technology is adopted, has an open type interface, modularization and high expansibility, and is very suitable for a use environment with high individual requirements.
The control system adopts a layered control structure and is divided into three layers, namely an operation layer, a control layer and an execution layer.
Operation layer: the main control console (man-machine interaction terminal) adopts two industrial-grade tablet computers, and is provided with a professional Weiya software system, so that the two computers can simultaneously operate equipment and are mutually used as main and standby equipment. The main console and the controller communicate by using industrial Ethernet. The following section will focus on the features of the software system.
A control layer: the main controller adopts a redundancy design, so that the system is more stable. The system bus network topology adopts an annular network structure, and the servo driver and the distributed IO are combined into an annular network, so that the fault tolerance function of the bus network is enhanced.
An execution layer: the controller is composed of a servo driving system and distributed IO and is communicated with the controller through an EtherCAT bus.
The system is provided with an emergency stop switch in multiple areas (console areas, equipment areas, monitoring areas and the like), so that once an emergency is found, the system can be stopped in the shortest time, and the safety is ensured.
Tertiary safe limit function: soft limit, hard limit and limit protection functions.
Stable advanced software system features
The system realizes a plurality of specific and extremely high practical value characteristic functions through a well-structured communication mode, a data structure and control logic.
The system has the multi-terminal control function, and can simultaneously control a plurality of control terminals, and if a console fault or other emergency occurs, the system can be directly controlled by other control terminals without switching any hardware or software, so that the tourists can experience and entertain smoothly. Under the condition of more equipment, the multiple terminals can be used for simultaneous operation, matching, installation and debugging, so that a large amount of time is saved, and the working efficiency is improved.
The emergency operation function-the system can stop single or multiple devices in the emergency operation interface if an emergency occurs in the entertainment operation process of the tourists, and can operate the devices independently and manually without influencing the experience of the tourists of other devices.
The system adopts a communication mode with elaborate structure, not only ensures real-time communication, but also can not influence the current operation track of the equipment when communication faults (network cable damage, network cable port looseness and the like) occur in the console, and particularly, the equipment can continuously finish the entertainment experience of tourists and ensure the normal operation of projects under the condition that the network faults of the console occur in the entertainment operation process of the tourists.
The mechanical structure of aircraft device does the skeleton texture with the mild steel, adopts servo motor to control machinery, can let the mechanical device opening ring, and the wing is incited about, and the neck can be rocked about, and the eyelid is stirred, and eyes can bright and shiny. The surface of the mechanical device adopts fireproof moulding sponge, and the surface of the mechanical device is simulated and manufactured by adopting a silica gel technology with extremely high fidelity. The mechanical device is 4 meters long, the wings are unfolded to 8 meters, the self weight of the mechanical device reaches 160 kilograms, and 2 people can be borne.
The 3D flight experience technology is one of the more advanced new forms of stereoscopic stage presentations in the field of modern stage equipment, and typically employs 4 sets of servo systems for independent drive, centralized control, to move a suspended device or stunt actor at any point within a given three-dimensional area. The 3D flight experience is a concept provided by comparison with 1D and 2D, the 1D flight experience only moves up and down, and the effect is similar to that of a single-point crane; 2D flight experience makes movements in a given plane; and 3D flight experience can move in the optional position in space, realizes the effect of three-dimensional stage, plays the effect of drawing dragon point eyeball.
3D flight can be used to the flight experience in literary tourist attractions. The flexible cable parallel robot can be used for adjusting the space positions of other objects as a mode of a flexible cable parallel robot. Because 3D flight only has four ropes, can adopt the layout mode of similar single-point loop wheel machine, adopt the mode of quick detach to carry out the fixed of four points. The lifting device can be used as a single-point crane to freely lift under the condition of not using at ordinary times, and does not occupy space; when the device is needed, the four points can be lowered to a certain position, and quick connection is carried out.
The operation technology of the 3D flight stunt can enable an air performer to finish the following dance actions if the space is used for performing large-scale humanity and natural open-air stage: aerial flight of variously dancing art shapes; the waist of the steel wire system performer turns over for a plurality of weeks in a front and back manner; the steel wire waist straight body rotates for a plurality of weeks; the turning movement and the dance modeling are combined; the aerial fighting and the modeling are combined to act; various air movements and dance shapes are matched with tacit understanding of scene setting, fireworks and ground movements.
Fig. 2 is a 3D flight experience configuration schematic. FIG. 3 is a schematic view of a 3D flight space configuration.
The following is an analysis of the 3D flight system mechanics.
As shown in fig. 4, Ai (i ═ 1 to 4) are respectively the four fixed pulley vertexes of the 3D flight system in the stage space, and the four fixed pulleys are considered as four points in the analysis considering that the fixed pulleys have a small volume in the whole system; mi (i is 1-4) are respectively 4 servo motors, and point P is an performer or a prop. The center O point of the stage horizontal plane B is used as the origin of a Cartesian coordinate system, and Li (i is 1-4) is the length of the steel rope between the point P and the top point of each pulley. The 3D flight system adopts 4 ropes to pull P, and under the comprehensive action of the four ropes, a performer or a prop can move in a certain three-dimensional space.
The center point object coordinates are labeled (x, y, z). The coordinates of the four point hanging rope points are marked as (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4) in space, that is, the length L of each rope can be obtained through the formula (1).
Formula (1)
1. The length of each rope can be obtained according to the coordinates through the formula, and then the speed information of the ropes can be calculated. As shown in equation (2), t is the operation control time slot.
Formula (2)
2. And (3) obtaining the stretching speed and the length variation of each rope in each time slice by derivation of the formula (2).
Formula (3)
3. The rope variation can be obtained through a formula (3), the position gap can be sent to the servo drive in real time through the controller, and the servo drive executes corresponding displacement action according to the position information.
(II) 3D flight coordination synchronization strategy
The ideal expectation of the 3D flight deduction is to travel the entire course along the preset posture trajectory stably and accurately within the specified background music time. The idea of 3D flight coordination synchronization can be interpreted as: and (3) according to a kinematic equation of a preset space attitude curve, obtaining the angular displacement set value of the servo motor in real time on line, and performing hard synchronous coordinated operation according to the angular displacement set value. The core of the method can be considered as a linear or nonlinear mapping calculation from a preset attitude curve to the angular displacement change of the 3D servo motor.
Therefore, the real-time rope length change of the 3D flying steel rope can be obtained:
formula (4)
ΔLi(k)＝Li(k)- 0iL，(i＝1～4)
In equation (4): l0i is the initial rope length from the actor's position point to the apex of each pulley block.
Assuming that the radius of the spool of the servo single point crane is R, if the condition of the steel cable laminated on the spool is ignored, the spool rotates once, and the length of the steel cable changes as follows:
formula (5)
Δl＝2πR
The real-time angular displacement set value of the 3D flight servo motor can be further obtained by the following formula (4) and formula (5):
formula (6)
θdi(k)＝ΔLi(k)*2π/Δl，(i＝1～4)
From the analysis formulas (4) to (6), it can be known that when the flight device operates according to a preset attitude curve, that is, when the coordinate of the point P changes, the lengths of the 4 steel ropes also change, and the 3D wiya realizes the coordinated and synchronous operation by controlling each servo single-point crane according to the real-time given angular displacement.
3D flight device equipment maintenance and emergency treatment standard:
1. aircraft equipment maintenance specifications
(1) The daily maintenance work of the flight professional post mainly carries out the sanitation and cleanliness of the work post, the daily maintenance test of the flight device equipment and the maintenance of the equipment, and the problem must be found and the repair must be carried out immediately to ensure the complete operation of the equipment.
(2) The flight professional post carries out all-round detection of the flight device equipment once a month, selects equipment for determining overhaul and maintaining and registers detection data and overhaul conditions on a record book for immediate processing [ steel wire ropes (horizontal shafts, vertical shafts and the like) need to be replaced after a month is full ].
2. Flight post emergency condition handling specification
(1) When the flight equipment system has an accident, an operator needs to calmly and maintain a position, and a guardian is responsible for the inspection and emergency repair work of the fault equipment.
(2) The flight post guardian should quickly find the cause of the fault, if the fault is interrupted, the power supply of the fault equipment is turned off to prevent the fault from continuing to expand, and the system operation of the fault equipment should be recovered in an effort to ensure that the working operation of the Weiya equipment system is not influenced and the loss of the fault equipment to the performance is reduced in an effort.
According to the utility model discloses a 3D flight control device for visitor experience hoists the pterosaur to carry out digital programming control to the upper and lower all around motion of pterosaur, simulate out the sensation and the speed of real flight. The flying robot can fly a mechanical device which can not fly for information and can fly by people, which is the first time in China. Therefore, in the cultural tourist attraction, tourists can not only see the mechanical device but also ride the mechanical device, and the entertainment is experienced deeply.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment 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.
Although embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the principles and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A3D flight control device for a guest experience, comprising: control system and aircraft device, wherein, control system adopts hierarchical control structure, includes: an operation layer, a control layer and an execution layer;
the operation layer comprises: the main console adopts two industrial-grade tablet computers, and is provided with a professional Weiya software system, so that the two computers operate equipment simultaneously and are mutually active and standby;
the control layer includes: the main controller adopts a redundancy design, the system bus network topology adopts a ring network structure, and the servo driver and the distributed IO are combined into a ring network;
the execution layer is composed of a servo drive system and distributed IO and is communicated with the main controller through an EtherCAT bus;
the aircraft device comprises: the movable trolley is arranged on the cableway and is further connected with the aircraft through the steel wire rope; the aircraft comprises: the system comprises a simulation pterosaur component, a CPU controller, a signal circuit, an action circuit and a sound circuit, wherein the CPU controller, the signal circuit, the action circuit and the sound circuit are arranged in the simulation pterosaur component, signals sent by the control system are received by the signal circuit and input to the CPU controller, then commands are sent by the CPU controller to control the sound circuit, and commands are sent to control the action circuit at the same time to realize action and sound synchronization;
wherein the action circuit comprises: the first driving motor and the speed reducer are arranged at the wings in the simulated pterosaur assembly, the second driving motor is arranged at the neck in the simulated pterosaur assembly, and the third driving motor is arranged at the head and the mouth in the simulated pterosaur assembly, wherein the motors of the first driving motor, the second driving motor and the third driving motor drive the main shaft to move so as to drive the gears and the chain gear to output power to the gears on the simulated pterosaur assembly through the reverse shaft and the chain to move up and down together, so that the flying effect of the simulated pterosaur assembly is realized;
the sound circuit includes: the audio amplifier comprises an audio amplifier integrated circuit, a decimal decoder, an audio transformer, a loudspeaker and an NPN transistor, wherein the output end of the audio amplifier integrated circuit is connected with the loudspeaker through a resistor and an inductor, the NPN transistor is connected with the decimal decoder, one side of the audio transformer is grounded, and the other side of the audio transformer is connected with a power amplifier circuit.
2. The 3D flight control device for guest experience of claim 1, wherein the wing of the simulated wingdragon assembly is additionally provided with a high-strength aluminum alloy structure, and the power output provided by the first driving motor transmits power to the high-strength aluminum alloy structure through a belt or a chain to move so as to enable the wing to move up and down.
3. The 3D flight control device for guest experience of claim 1, wherein a high-strength aluminum alloy structure is additionally installed inside the neck of the simulated wing dragon assembly, the second driving motor provides power output and transmits power to the high-strength aluminum alloy structure through a belt or a chain to move, and therefore the neck moves up and down, left and right.
4. The 3D flight control device for guest experience of claim 1, wherein the head and the mouth of the simulated wingman assembly are internally provided with high-strength aluminum alloy structures, and the third driving motor provides power output and transmits power to the high-strength aluminum alloy structures through a belt or a chain to move, so that the head moves left and right, and the mouth moves in an opening and closing mode.
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