CN103208213A - Virtual command device, virtual command system and virtual command method for operation simulation and engineering machine - Google Patents
Virtual command device, virtual command system and virtual command method for operation simulation and engineering machine Download PDFInfo
- Publication number
- CN103208213A CN103208213A CN2013100763268A CN201310076326A CN103208213A CN 103208213 A CN103208213 A CN 103208213A CN 2013100763268 A CN2013100763268 A CN 2013100763268A CN 201310076326 A CN201310076326 A CN 201310076326A CN 103208213 A CN103208213 A CN 103208213A
- Authority
- CN
- China
- Prior art keywords
- moving component
- instruction
- virtual command
- predeterminable area
- operator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a virtual command device, a virtual command system and a virtual command method for operation simulation of an engineering machine and the engineering machine. The virtual command device comprises a receiver for receiving a position signal of a movement part of the engineering machine, and a controller connected with the receiver and used for judging whether the movement part moves a preset region or not according to the position signal, confirming operation executed by the movement part in the preset region according to mapping relation between the region and an operation instruction when the movement part moves the preset region, and outputting an instruction corresponding to the operation so as to command an operator to perform operation. Reality sense and immersion sense of the operator in simulated training can be increased by sending the instruction to the operator and guiding the operation of the operator, and the instruction is from real standard and actual conventions. Therefore, the operator can fully learn specifications and requirements in tower crane operation while performs the operation according to the instruction, artificial assistance and intervention are not required, and the training effect is good.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of virtual command device, system, method and engineering machinery for work machine operation emulation.
Background technology
Usually need the tower machine to lift in majority construction phenomenon, so that weight is lifted another position from a position.Hoisting process needs tower machine tractor driver to operate and control, and therefore, it is very necessary that tower machine tractor driver is carried out the simulation operations training.
Because in initial period and the release stage operating mode more complicated (for example, because chaff interference is more) of hoisting process, in the practical operation, the tractor driver needs submit onself to someone's direction person's commander to operate usually, to reach the purpose of safety work.Yet existing tower machine simulation training system does not possess the function of virtual command, and therefore, the tractor driver can operate arbitrarily when carrying out emulation training, can not experience real tower machine operation scene, and about requirement and the standard of tower machine operation.And if want the tractor driver is carried out the training of this respect, then need manual intervention, increase human cost and subjectivity.
Summary of the invention
The purpose of this invention is to provide a kind of virtual command device, system, method and engineering machinery for work machine operation emulation, to increase the sense of reality and the feeling of immersion of operator when carrying out emulation training.
To achieve these goals, the invention provides a kind of virtual command device for work machine operation emulation, this device comprises: receiver, for the position signalling of the moving component that receives described engineering machinery; And, controller, be connected with described receiver, be used for judging according to described position signalling whether described moving component moves to predeterminable area, and move at described moving component under the situation of described predeterminable area, according to the mapping relations of described zone and operational order, determine the operation that to carry out at moving component described in this predeterminable area, and the output instruction corresponding with described operation operated with the commander operator.
The present invention also provides a kind of virtual command system for work machine operation emulation, and this system comprises: pick-up unit, for detection of the position signalling of the moving component of described engineering machinery; And above-mentioned virtual command device, be connected with described pick-up unit.
The present invention also provides a kind of engineering machinery that comprises said system.
The present invention also provides a kind of virtual command method for work machine operation emulation, and this method comprises: the position signalling that receives the moving component of described engineering machinery; Judge according to described position signalling whether described moving component moves to predeterminable area; Move at described moving component under the situation of described predeterminable area, according to the mapping relations of described zone and operational order, determine the operation that to carry out at moving component described in this predeterminable area; And the output instruction corresponding with described operation operated with the commander operator.
In technique scheme, by sending instruction to the operator to instruct its operation, increased the sense of reality and the feeling of immersion of operator when carrying out emulation training greatly, and above-mentioned instruction all derives from true standard and actual convention, therefore, the operator can fully understand the specification and requirement in the tower machine operation when operating according to instruction, need not artificial auxiliary and intervention, thereby play result of training preferably.
Other features and advantages of the present invention will partly be described in detail in embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide further understanding of the present invention, and constitutes the part of instructions, is used from explanation the present invention with following embodiment one, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is tower machine operation virtual command path synoptic diagram according to the embodiment of the present invention;
Fig. 2 is the structural drawing of virtual command device according to the embodiment of the present invention;
Fig. 3 is the synoptic diagram of tower machine suspension hook position judgment according to the embodiment of the present invention;
Fig. 4 is example commander instruction flow chart according to the embodiment of the present invention;
Fig. 5 is the structural drawing of virtual command system according to the embodiment of the present invention; And
Fig. 6 is the process flow diagram of virtual command method according to the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is elaborated.Should be understood that embodiment described herein only is used for description and interpretation the present invention, is not limited to the present invention.
Initial period and release stage at hoisting process need submit onself to someone's direction person's commander to operate usually, to reach the purpose of safety work, as shown in Figure 1, initial period for example suspension hook 2 is positioned at the process of the weight 3 that O orders with hang-up moving to the E point from the A point, and the release stage for example suspension hook 2 move to the K point weight 3 is discharged into the process of the target location K of buildings 1 from the F point.Because comparatively spacious to the interstage environment that F is ordered from the E point, barrier is less, therefore, allows operator's free operant.Be that example is described in detail virtual command device provided by the invention, system and method with path shown in Figure 1 below.Need submit onself to someone's direction the operation though should be noted in the discussion above that the illustrative tractor driver of being of the present invention in initial period and the release stage of hoisting process, when suspension hook moved in other positions, the tractor driver also can come submit onself to someone's direction person's commander in a similar way.In addition, the motion path of suspension hook is planned in advance by the deviser, can design suitable path according to different site environments.
Fig. 2 shows the structural drawing of the virtual command device that is used for work machine operation emulation according to the embodiment of the present invention.As shown in Figure 2, this device 10 can comprise: receiver 101, for the position signalling of the moving component that receives described engineering machinery; And, controller 102, be connected with described receiver 101, be used for judging according to described position signalling whether described moving component moves to predeterminable area, and move at described moving component under the situation of described predeterminable area, according to the mapping relations of described zone and operational order, determine the operation that to carry out at moving component described in this predeterminable area, and the output instruction corresponding with described operation operated with the commander operator.
Determine the position of suspension hook when controller 102 and be in a certain predeterminable area that this controller 102 can utilize the mapping relations of described zone and operational order, determines the operation that should carry out at moving component described in this predeterminable area.
Particularly, store a zone and operational order mapping table in controller 102, this mapping table has recorded the operation that should carry out under a certain zone.For example, when suspension hook was in the C point zone shown in Figure 1, it will arrive next target position D point and need move downward, and therefore, controller 102 determines that in C point zone the operation that suspension hook is carried out should be to descend.After determining the operation that should carry out, described operation is indicated in controller 102 exportable instructions.
In order to realize steady operation, controller 102 can make suspension hook with the instruction of which kind of speed executable operations according to the distance output between adjacent two reference point.For example, the distance between two reference point hour, the exportable suspension hook that makes is with the instruction of low relatively speed executable operations, for example crawl descends; When the distance between two reference point was big, the exportable suspension hook that makes was with the instruction of higher relatively speed executable operations, and (perhaps descend, descend as long as can be different from crawl) for example normally descends.
Table 1 shows the virtual command instruction set that meets national standard and actual convention.According to the instruction shown in the table 1, controller 102 is after the operational example of determining good suspension hook execution normally descends in this way, and the instruction of output " decline " comes the commander tractor driver.The tractor driver carries out corresponding operating after learning this instruction.
The form of output order can have multiple, for example, can perhaps this instruction be shown with instruction with audio form output.
Table 1
Be based on path shown in Figure 1, the entire flow of the steering order of controller 102 outputs shown in Fig. 4.For example, when suspension hook entered into A point zone, controller 102 output crawls were turned right and are instructed, and the tractor driver controls the right-hand rotation of suspension hook crawl then, when suspension hook enters into B point zone, instructs after the controller 102 output point trends, and the tractor driver controls the suspension hook crawl backward then, etc.After hook was hung up weight, the motion process of ordering to F from the E point, the tractor driver can carry out free operant.When suspension hook enters into F point zone, controller 102 output crawl climb commands, the tractor driver controls the rising of suspension hook crawl then, and subsequent operation is so carried out, till weight is discharged.
Thus, by sending instruction to the operator to instruct its operation, can increase the sense of reality and the feeling of immersion of operator when carrying out emulation training greatly.In addition, because the instruction of all outputs all meets national standard, therefore, the tractor driver can personally understand some standards and norms of relevant tower machine operation when carrying out training on operation, does not need artificial assisting, and can reach good result of training.
Fig. 5 shows the structural drawing of the virtual command system that is used for work machine operation emulation according to the embodiment of the present invention.As shown in Figure 5, this system can comprise: pick-up unit 20, for detection of the position signalling of the moving component of described engineering machinery; And above-mentioned virtual command device 10, be connected with described pick-up unit 20.
Though in Fig. 5, do not show, but described virtual command system can also comprise display device, the partial enlarged drawing, suspension hook that is used for indicating command instruction, current suspension hook position is at the panorama sketch of whole scene and various parameter informations etc., so that the tractor driver can grasp the motion state of suspension hook in real time, be convenient to operation.In addition, the real time position of the suspension hook that the tractor driver also can demonstrate by this display device carries out manual synchronizing to commander's instruction of virtual command device 10 outputs.For example, occur when instruction under the situation of deviation, the tractor driver can manual synchronizing, makes suspension hook get back on the correct track, prevents unexpected generation.
Though the present invention is that the emulation training with the tower machine is that example is described, and the invention is not restricted to this, Other Engineering machinery also can come the operator is carried out the virtual command training according to virtual command device provided by the invention and system.
Fig. 6 shows the process flow diagram of the virtual command method that is used for work machine operation emulation according to the embodiment of the present invention.As shown in Figure 6, described method can comprise: step 601, the position signalling of the moving component of reception engineering machinery; Step 602 judges according to described position signalling whether described moving component moves to predeterminable area; Move under the situation of predeterminable area at definite moving component, step 603 according to the mapping relations of zone with operational order, is determined the operation that moving component should be carried out in this predeterminable area; And, step 604, the output instruction corresponding with described operation operated with the commander operator, and wherein said instruction is for example exported with the form of sound signal or vision signal.Do not move under the situation of predeterminable area at definite moving component, then be back to step 601.After carry out step 604, step 605 judges whether moving component continues motion; If then be back to step 601 and proceed, till motion finishes.
Though not shown in Fig. 6, described method can also be included under the situation of distance more than or equal to a preset value between adjacent two permanent datums, output makes described moving component to carry out the instruction of described operation at a high speed; And under the situation of distance less than described preset value between adjacent two permanent datums, output makes described moving component carry out the instruction of described operation with low speed, realizes steady operation with this.
Thus, in virtual command device provided by the invention, system and method, by sending instruction to the operator to instruct its operation, increased the sense of reality and the feeling of immersion of operator when carrying out emulation training greatly, and above-mentioned instruction all derives from true standard and actual convention, therefore, the operator is when operating according to instruction, can fully understand the specification and requirement in the tower machine operation, need not artificial auxiliary and intervention, thereby play result of training preferably.
Below describe preferred implementation of the present invention by reference to the accompanying drawings in detail; but; the present invention is not limited to the detail in the above-mentioned embodiment; in technical conceive scope of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove that in addition each the concrete technical characterictic described in above-mentioned embodiment under reconcilable situation, can make up by any suitable manner.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. virtual command device that is used for work machine operation emulation is characterized in that this device comprises:
Receiver is for the position signalling of the moving component that receives described engineering machinery; And
Controller, be connected with described receiver, be used for judging according to described position signalling whether described moving component moves to predeterminable area, and move at described moving component under the situation of described predeterminable area, mapping relations according to described zone and operational order, determine the operation that to carry out at moving component described in this predeterminable area, and the output instruction corresponding with described operation operated with the commander operator.
2. device according to claim 1, it is characterized in that, in the space of described moving component, be preset with one or more permanent datums, and described predeterminable area is to be the spheric region of radius centered by described one or more permanent datums, with the preset distance.
3. device according to claim 2 is characterized in that, described controller also is used under the situation of distance more than or equal to a preset value between adjacent two permanent datums, and output makes described moving component to carry out the instruction of described operation at a high speed; And under the situation of distance less than described preset value between adjacent two permanent datums, output makes described moving component carry out the instruction of described operation with low speed.
4. device according to claim 1 is characterized in that, described controller is exported described instruction with the form of sound signal or vision signal.
5. virtual command system that is used for work machine operation emulation is characterized in that this system comprises:
Pick-up unit is for detection of the position signalling of the moving component of described engineering machinery; And
According to any described device of claim among the claim 1-4, be connected with described pick-up unit.
6. engineering machinery that comprises the described system of claim 5.
7. virtual command method that is used for work machine operation emulation is characterized in that this method comprises:
Receive the position signalling of the moving component of described engineering machinery;
Judge according to described position signalling whether described moving component moves to predeterminable area;
Move at described moving component under the situation of described predeterminable area, according to the mapping relations of described zone and operational order, determine the operation that to carry out at moving component described in this predeterminable area; And
The output instruction corresponding with described operation operated with the commander operator.
8. method according to claim 7, it is characterized in that, in the space of described moving component, be preset with one or more permanent datums, and described predeterminable area is to be the spheric region of radius centered by described one or more permanent datums, with the preset distance.
9. method according to claim 8 is characterized in that, described method also comprises:
Under the situation of distance more than or equal to a preset value between adjacent two permanent datums, output makes described moving component to carry out the instruction of described operation at a high speed; And
Under the situation of distance less than described preset value between adjacent two permanent datums, output makes described moving component carry out the instruction of described operation with low speed.
10. method according to claim 7 is characterized in that, described instruction is with the form output of sound signal or vision signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310076326.8A CN103208213B (en) | 2013-03-11 | 2013-03-11 | Virtual command device, virtual command system and virtual command method for operation simulation and engineering machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310076326.8A CN103208213B (en) | 2013-03-11 | 2013-03-11 | Virtual command device, virtual command system and virtual command method for operation simulation and engineering machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103208213A true CN103208213A (en) | 2013-07-17 |
| CN103208213B CN103208213B (en) | 2015-07-15 |
Family
ID=48755426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310076326.8A Active CN103208213B (en) | 2013-03-11 | 2013-03-11 | Virtual command device, virtual command system and virtual command method for operation simulation and engineering machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103208213B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040243430A1 (en) * | 2003-05-28 | 2004-12-02 | Horstemeyer Scott A. | Notification systems and methods enabling a response to cause connection between a notified PCD and a delivery or pickup representative |
| WO2005008639A2 (en) * | 2003-07-17 | 2005-01-27 | Koninklijke Philips Electronics N.V. | Servo system |
| CN201619959U (en) * | 2010-03-30 | 2010-11-03 | 三一重工股份有限公司 | Engineering machine and stability control system thereof |
| CN102431911A (en) * | 2011-09-29 | 2012-05-02 | 中联重科股份有限公司 | Suspension arm telescopic action control method, device and engineering machinery |
| CN102514550A (en) * | 2011-12-20 | 2012-06-27 | 长沙中联消防机械有限公司 | Engineering machinery and safety state determining method, device and system thereof |
| CN102542361A (en) * | 2012-01-11 | 2012-07-04 | 中联重科股份有限公司 | Method for planning path of lift object for crane |
| CN102535852A (en) * | 2012-01-16 | 2012-07-04 | 三一重工股份有限公司 | Operating and controlling system and method of mechanical arm, and engineering machinery |
| CN102841961A (en) * | 2012-07-20 | 2012-12-26 | 中南大学 | Method for detecting three-dimensional lifting dynamic collision based on cache information |
-
2013
- 2013-03-11 CN CN201310076326.8A patent/CN103208213B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040243430A1 (en) * | 2003-05-28 | 2004-12-02 | Horstemeyer Scott A. | Notification systems and methods enabling a response to cause connection between a notified PCD and a delivery or pickup representative |
| WO2005008639A2 (en) * | 2003-07-17 | 2005-01-27 | Koninklijke Philips Electronics N.V. | Servo system |
| CN201619959U (en) * | 2010-03-30 | 2010-11-03 | 三一重工股份有限公司 | Engineering machine and stability control system thereof |
| CN102431911A (en) * | 2011-09-29 | 2012-05-02 | 中联重科股份有限公司 | Suspension arm telescopic action control method, device and engineering machinery |
| CN102514550A (en) * | 2011-12-20 | 2012-06-27 | 长沙中联消防机械有限公司 | Engineering machinery and safety state determining method, device and system thereof |
| CN102542361A (en) * | 2012-01-11 | 2012-07-04 | 中联重科股份有限公司 | Method for planning path of lift object for crane |
| CN102535852A (en) * | 2012-01-16 | 2012-07-04 | 三一重工股份有限公司 | Operating and controlling system and method of mechanical arm, and engineering machinery |
| CN102841961A (en) * | 2012-07-20 | 2012-12-26 | 中南大学 | Method for detecting three-dimensional lifting dynamic collision based on cache information |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103208213B (en) | 2015-07-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103867205B (en) | A kind of development machine tele-control system and method | |
| CN109311639B (en) | Remote control device for cranes, construction machines and/or pallet trucks | |
| CN110209146B (en) | Test method, device and equipment for automatic driving vehicle and readable storage medium | |
| CN113380104B (en) | System and method for vehicle simulation | |
| WO2018180143A1 (en) | Information processing device, information processing method, computer program, and program manufacturing method | |
| EP3595850A1 (en) | Mixed reality assisted spatial programming of robotic systems | |
| WO2017028571A1 (en) | An education system using connected toys | |
| EP3196726A3 (en) | Apparatus and system for remotely controlling a moving robot and method thereof | |
| CN104906805A (en) | Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection | |
| CN113710432A (en) | Method for determining a trajectory of a robot | |
| JP2014530767A5 (en) | ||
| CN105690389A (en) | Universal multi-degree-of-freedom robot test platform and control method | |
| WO2013159171A1 (en) | System and method for providing three-dimensional paths | |
| KR101489298B1 (en) | Force feedback system and method for remote control of mobile robot | |
| US10232519B2 (en) | Robot and method of controlling the same | |
| JP2019202404A (en) | Robot system and robot control method | |
| CN105479431A (en) | Inertial navigation type robot demonstration equipment | |
| CN108189918B (en) | A kind of machine people's air defense tumble device and method | |
| CN105139619A (en) | System capable of simulating moving posture of remote-control moving device | |
| CN112091974B (en) | Remote control operation system of distribution network live working robot and control method thereof | |
| CN103208213B (en) | Virtual command device, virtual command system and virtual command method for operation simulation and engineering machine | |
| US11633858B2 (en) | Method and system for simulating a braking operation of a robot | |
| US20140315636A1 (en) | Method for enabling usage of a computerized mobile device as a game graphical user interface for an application game | |
| CN110914019B (en) | Robot stopping distance simulation method | |
| JP2024509342A (en) | Devices, systems, and methods for operating intelligent vehicles using separate equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |