CN102663196A - Automobile crane hoisting simulation method on basis of virtual reality - Google Patents

Abstract

The invention discloses an automobile crane hoisting simulation method on the basis of the virtual reality, which is characterized by comprising the following steps of: a first step of newly constructing a project and setting a project name for the new project; a second step of constructing a crane mode; a third step of adding hoisted objects and barriers; a fourth step of setting a hoisting target point; and a fifth step of implementing the hoisting simulation operation by keyboard operation until the hoisted objects reach the hoisting target point, completing hoisting and storing the operation process from a hoisting initial point to the hoisting target point. The construction of the hoisting model adopts a custom configuration mode or a mode of inquiring and adding on the basis of the working condition. The automobile crane hoisting simulation method on the basis of the virtual reality is easy to implement and can accurately simulate the hoisting operation process of a crane.

Description

A kind of truck-mounted crane lifting emulation mode based on virtual reality

Technical field

The present invention relates to a kind of truck-mounted crane lifting emulation mode based on virtual reality.

Background technology

Enhancing along with china's overall national strength; Commercial scale is to super-hugeization development; The development of construction modes such as new modular construction and monoblock type assembling; Impelled the increase of hanging device quantity and assembly weight in the lifting industry; The lifting distance increases; Will requirements at the higher level be proposed to the lifting industry; In order to adapt to complex operating environment more; Safety is successfully carried out lifting operation; And reasonable overall arrangement crane resource, each construction company all has higher requirement to accuracy, reasonability, high efficiency and the reliability of Hoisting Program design.Therefore, in order to reduce the workload and the cost of lifting operation under the premise that security is guaranteed greatly, formulate safety, reliably, rationally, Hoisting Program just seems particularly important efficiently.

At present; The formulation of China's Hoisting Program mainly is to carry out with manual type, because Hoisting Program is formulated very complicacy, often is difficult to take into account efficient and safety; And can only come the feasibility and the effect of analytical plan enforcement after the solution formulation through hand computation and experience; There is very big error in this analytical approach, also is difficult to the effect that the prevision Hoisting Program is implemented simultaneously, thereby badly influences efficient, cost and the security etc. of lifting operation.So the lifting industry presses for the emulation mode of a cover three-dimensional simulation.

Summary of the invention

Technical matters to be solved by this invention provides a kind of truck-mounted crane lifting emulation mode based on virtual reality, should be easy to implement based on truck-mounted crane lifting emulation mode of virtual reality, can simulate crane lifting operation process exactly.

The technical solution of invention is following:

A kind of truck-mounted crane lifting emulation mode based on virtual reality may further comprise the steps:

Step 1: new construction also is engineering name of newly built construction setting;

Step 2: set up the heavy-duty machine model;

Step 3: add lifting object and barrier;

Step 4: the lifting impact point is set;

Step 5: realize lifting simulated operation through keyboard operation, arrive the lifting impact point up to lifting object and [arrive point of destination and have prompting, can show (being exactly the upper left of screen) at running parameter; Font is red then; Error is relevant with the precision of amount of deflection, and the error on the vertical direction is 0 to+0.3 meter, and the error of horizontal direction is 0 to 0.1 meter]; Lifting finishes, and preserves the operating process from the lifting starting point to the lifting impact point.

In the step 2, set up the heavy-duty machine model through self-defined configuration mode:

Set following parameter: multiplying power, counterweight, angle of revolution, crane supporting leg span, auxiliary angle, auxiliary brachium, second joint to the 6th joint arm stretch out ratio, crane principal arm brachium, [amplitude is meant the operating radius of crane to the crane amplitude; Such as amplitude is 10 meters; Lifting object is exactly 10 meters from crane center distance farthest so in other words; If many, will topple.]; And set up the heavy-duty machine model according to the parameter of above setting.

In the step 2, adopt based on the pattern of operating mode inquiry and interpolation and set up the heavy-duty machine model: according to operator's presetting condition querying condition, in crane operating mode table, inquire about,, set up the heavy-duty machine model through operating mode to obtain qualified operating mode.[the operating mode table is storing following information: under the situation of corresponding amplitude, corresponding counterweight, corresponding brachium, can maximum hang multiple object.】

In the step 3, the implementation method of adding lifting object or barrier is: the function that utilizes VC to call OpenGL is drawn; The data of [for simple lifting object or simple obstacle thing ,] lifting object or barrier model directly exist draws in the function, when drawing, calls and draws the direct reading of data completion of function drafting.

Perhaps, the data of [for the lifting object or the barrier of complicacy ,] lifting object or barrier model are read in from outer file: draw out lifting object or barrier model through pro/e software earlier; Then model is saved as cpp formatted file (cpp formatted file deposit be exactly the data of lifting object or barrier model); Be provided with lifting object or barrier parameter [parameter be after be provided with, the data of cpp file are raw data, these parameters are operated these data exactly; Draw an analogy; Such as size is set is 2, and that is exactly 2 times of original size], utilize VC to read the cpp formatted file then; Call the OpenGL function and in scene, redraw, accomplish lifting object or barrier and draw.

Lifting object is the same with the barrier method for establishing model; But add in the scene different; Barrier is to add in this host node of scene, and lifting object is to add in the child node of suspension hook, with each barrier model node as child node independently under the total root node of scene; Driving is not separately disturbed mutually, utilizes the glTranlate function to realize barrier is carried out the translation on all directions.The final purpose of OpenGL function is exactly in order to redraw; For complex barrier thing and complicated lifting object; The data read of cpp file is come in to redraw then; Simple obstacle thing and lifting object need not be read the cpp file data, and their data have directly added just inside drawing function, need not read external file.

In the step 2, the process of setting up the heavy-duty machine model according to the parameter of setting is:

[data layout is prt originally will to preset type crane three-dimensional model file .prt file; Vc can not directly use; Could use after need transforming] preserve into the .cpp file behind the envelope; The data that comprised 5 aspects in this .cpp file; Face_indicies, material_ref, materials, normalst and vertices be totally 5 parts, and this 5 partial data is deposited in respectively in 5 txt files, is respectively face_indicies.txt, material_ref.txt, materials.txt, normals.txt and vertices.txt; Wherein:

What (1) store among the face_indicies.txt is the each several part data directory information of crane; [the crane model is derived the data of coming and is made up of a lot of triangles to point to summit three dimensional space coordinate data; The meaning on this summit is exactly leg-of-mutton three summits], comprise the corresponding data of chassis, 4 supporting legs, turntable, principal arm and auxiliarys;

(2) material_ref.txt stores the index information of material, is used to refer to material quality data information; Face_indicies.txt is the position that stores material; Material information is placed on a big array the inside; Such as the material information on summit 5 will deposited No. 10 positions in the pointed material information inside the face_indicies.txt so in the 10th position of this array.

(3) materials.txt stores material information; Material just comprises colouring information in this software, if such as do not have material information, a rectangular parallelepiped that draws does not have color; Such as having added red material information, will be red after rectangular parallelepiped draws;

What (4) normals.txt stored is that [the crane model is derived the data of coming and is made up of a lot of triangles on the summit; The meaning on this summit is exactly leg-of-mutton three summits] normal information, what vertices.txt stored is vertex data information [data are the three dimensional space coordinate data];

Then these 5 txt files are put under the newly-built engineering place catalogue of step 1;

Then; For chassis, oil cylinder, supporting leg, turntable, principal arm, auxiliary and the suspension hook of crane model are set up the GraphicalObject class; Above-mentioned 5 txt files of visit in GraphicalObject::draw () function; Obtain the every partial data of crane model, utilize glBegin (GL_TRIANGLES), glEnd (), glNormal3f, glTexCoord2f and glVertex3f function among the OpenGL that the data that obtain are operated; Secondly, be provided with crane model each several part node dependency information [dependency information is exactly the order of dactylus point, such as, created two node A and B, wherein the A node is the slave node of B node.It is exactly to utilize the A node function setup to become the child node of B node that dependency information is set], be provided with according to the subordinate relation of each node

Each node [this is a thing of OpenGL the inside, the suitable ring in the chain, and to link up after the subordinate relation be exactly to be equivalent to a chain to the information of whole node through being provided with.] comprising two parts, a part is its child node, and a part is its body node in addition, and the body node is used for accomplishing the actual drawing of the crane model each several part of this node representative; [child node also is a node, and the information that it comprises is exactly the information that node need comprise.】

After all nodal informations are provided with completion; Carrying out function draws: VC begins search from uppermost node; Search a group node; Just find out its body node; Find the GraphicalObject class that matches from the body node then, utilize the draw function of GraphicalObject to carry out the drafting of entity; When the drawing of accomplishing all nodes, then the full graphics of crane is drawn out and is presented in the scene.

In step 5, the amount of deflection and the corner of each joint arm are about to this amount of deflection that calculates and corner and are loaded in the crane model of foundation in the arm of consideration crane under the lifting object influence; And utilize the corner of the every joint arm try to achieve, drive the every joint arm corresponding in the heavy-duty machine model of building up with corner, the child node of every joint arm produces interlock, and in graphical interfaces the amount of deflection deformation quantity of the whole arm of real-time demonstration.

Described Calculation of Deflection method is following:

The amount of deflection of the arm i joint arm of crane

The i round numbers is since 1; Wherein, arm length overall when l is work, this value is regular length, Z _iBe the distance of each joint arm arm head to arm tail hinge; E is the arm elastic modulus, the constant relevant with material, p _yStressed for the arm axis direction, M _OxBe torque; I _XiBe the moment of inertia of each joint arm to the x axle.

The stressed p of said arm axis direction _yComputing method be p _y=(Q+q) cos θ+γ _bG _bCos θ; Wherein Q is input lift heavy load, and q is that suspension hook and pulley blocks are heavy, and θ is the angle of arm and turntable; γ _bBe arm deadweight conversion coefficient, γ _b=Lzb/l, wherein, Izb is the arm centre of gravity place, $\mathrm{Lzb}=\underset{i=0}{\overset{i}{\mathrm{\Σ}}}(M_i*\mathrm{Lg}\_i)/\mathrm{Mzb},$ Mzb is an arm weight,

M _iBe the weight of each arm, Lg_i is the centre of gravity place of each arm under any operating mode, $\mathrm{Lg}\_i=\mathrm{Init}\_\mathrm{Lg}\_i+\underset{i=0}{\overset{i}{\mathrm{\Σ}}}{n}_i\·\mathrm{LS}\_\mathrm{MAX}\_i,$ Init_Lg _iFor each arm centre of gravity place when arm is full reduced apart from the distance of hinge under the arm; n _iBe the flexible number percent of each arm, LS_MAX _iBe the maximal dilation amount of every joint arm, M _OxBe torque, M _Ox=(Q+q) sin θ * e ₂-T _s* e ₁, e ₁, e ₂Be upper and lower pulley forces brachium, T _sBe the suffered pulling force of lifting rope, T _s=1/n (Q+q), n are the suspension hook multiplying power, round numbers; X, y are respectively the coordinate axis in institute's established model; The amount of deflection rotational angle theta of every joint arm _iComputing formula following:

${\mathrm{\θ}}_i=\frac{{\mathrm{df}}_i}{\mathrm{dl}}=\frac{1}{{\mathrm{EI}}_{\mathrm{xi}}}[p_y{(l-Z_{i-1})}^2-p_y{(l-Z_i)}^2+M_{\mathrm{ox}}(l-Z_{i-1})-M_{\mathrm{ox}}(l-Z_i)]$

Parameter i in above-mentioned is an integer, since 1 value;

The first segment arm is divided into two sections by oil cylinder, and oil cylinder is a to the strong point of arm to arm tail hinge distance, Z ₀Be divided into two segment distances, be respectively a and Z ₀-a, the amount of deflection f of this arm ₀Be calculated as:

$f_0={\∫}_0^a\frac{p_y{(1-a)}^2+M_{0x}(1-a)}{a^2{\mathrm{EI}}_{x0}}{x}^2\mathrm{Dx}+\underset{1-z_0}{\overset{1-a}{\∫}}\frac{(p_{y}x+M_{0x})x}{{\mathrm{EI}}_{x0}}\mathrm{Dx},$ Its corresponding rotational angle theta ₀Be calculated as:

${\mathrm{\θ}}_0=\frac{{\mathrm{df}}_0}{\mathrm{dl}}=\frac{1}{{\mathrm{EI}}_{X0}}[(2Z_0-4a/3)p_{y}l+(a^2-z_0^2)p_y+M_{0x}{Z}_0-2a{M}_{0x}/3].$

Beneficial effect:

Truck-mounted crane lifting emulation mode based on virtual reality of the present invention; Use virtual reality technology lifting operation that is virtually reality like reality; Carry out interactive simulation; Get rid of the concurrent reality of infeasible Hoisting Program in advance and execute the problem that possibly occur in the process, seek best Hoisting Program through the mode of emulation comparison.This will greatly improve the efficient that Hoisting Program is formulated, and improve feasibility, security and the accuracy of Hoisting Program simultaneously.

Adopt the truck-mounted crane lifting emulation mode based on virtual reality of the present invention; Adopt VC6.0++ to call the foundation that OpenGL carries out truck-mounted crane model and object scene model; Programming realizes the Real Time Drive of truck-mounted crane model and model of place in the VC6.0++ environment, the hoisting process of simulated automotive crane in fixed scene, and emulation obtains the information such as routing information, collision information and truck-mounted crane erect-position in the hoisting process; And information is passed through document export; Supply operating personnel's reference, can get rid of the concurrent reality of infeasible Hoisting Program in advance and execute the problem that possibly occur in the process, relatively seek best Hoisting Program through emulation; This will greatly improve the efficient that Hoisting Program is formulated, and improve feasibility, security and the accuracy of Hoisting Program simultaneously.Multiple function that this method is integrated comprises that scene is built, operating mode inquiry, lifting emulation, browse at the visual angle and function such as scheme output, easy and simple to handle, can further improve the work efficiency of lifting operation.

In addition, in hoisting process, also considered the influence of amount of deflection, thereby can simulate the state of arm in actual hoisting process more accurately, thereby made more accurate and effective of result arm.

Can the hoisting process of simulated automotive crane in fixed scene; Emulation obtains the information such as routing information, collision information and truck-mounted crane erect-position in the hoisting process; And information exported out through document, supplying operating personnel's reference, systemic-function is powerful; Easy and simple to handle, have actual directive significance.

Description of drawings

Fig. 1 is the process flow diagram based on the truck-mounted crane lifting emulation mode of virtual reality;

Fig. 2 is a crane node sequence table;

Fig. 3 prevents the synoptic diagram of process for lifting;

Fig. 4 is the crane model view at visual angle, due east;

Fig. 5 is the crane model view at visual angle, due south;

Fig. 6 is the crane model view at Zheng Xi visual angle;

Fig. 7 is the crane model view at Zheng Bei visual angle;

Fig. 8 is a crane model view of overlooking the visual angle;

Embodiment

Below will combine accompanying drawing and specific embodiment that the present invention is explained further details:

Embodiment 1:

Lift process flow diagram such as Fig. 1 of emulation mode based on the truck-mounted crane of virtual reality; Through hanging one 10 tons weight is example, and A reaches the simulated operation that B realizes the lifting operation from the place with weight to utilize native system.

At first, new construction is set up the engineering name of this lifting emulation.The input engineering name is an engineering 1, sets the job location, selects commencement date.

Then, perhaps adopt operating mode interpolation pattern to set up the heavy-duty machine model through the hand assembled pattern, crane comprises six joint arms altogether, sets up the heavy-duty machine interface through hand assembled; Setting multiplying power n is 4, and counterweight is 0, and the angle of revolution is 0; Crane supporting leg span is for stretch entirely, and the auxiliary angle is 0, and the auxiliary brachium is 0; Second joint is 100% to the 6th joint arm ratio of stretching out, and crane principal arm brachium is 62.5m, and the crane amplitude is 5m.The foundation of crane also can be added through operating mode; The setting operating radius is 10m, sling height 10m, 10 tons of hoisting weights; Select querying condition; Comprise minimum counter, the simplest jib combination, minimum brachium and the shortest supporting leg span, the crane type that obtains meeting working condition through inquiry is SAC2200.Operating mode is saved in the txt file, utilizes the result who inquires to set up heavy-duty machine then.

The concrete performing step that crane is set up is following: with preserving into the .cpp file behind certain type crane three-dimensional model file .prt file envelope; The data that comprised 5 aspects in this cpp file; 5 parts such as face_indicies, material_ref, materials, normalst and vertices; This 5 partial data has divided when preserving into the cpp form automatically; Then this 5 partial data is deposited in respectively in 5 txt files, be respectively face_indicies.txt, material_ref.txt, materials.txt, normals.txt and vertices.txt.What wherein store among the face_indicies.txt is the each several part data directory information of crane, points to material, vertex data respectively, comprises chassis, 4 parts such as supporting leg, turntable, principal arm and auxiliary; Material_ref.txt stores the index information of material; Be used to refer to material quality data information, what materials.txt stored is material information, and what normals.txt stored is the normal information on summit; What vertices.txt stored is vertex data information, and these data are actual parameters.Then these 5 txt files are put under the catalogue of engineering place.

Then; For chassis, oil cylinder, supporting leg, turntable, principal arm, auxiliary and the suspension hook etc. of crane are set up the GraphicalObject class; Above-mentioned 5 txt files of visit in GraphicalObject::draw () function; Obtain the every partial data of crane, utilize the functions such as glBegin (GL_TRIANGLES), glEnd (), glNormal3f, glTexCoord2f and glVertex3f among the OpenGL that the data that obtain are operated; Secondly, crane each several part node dependency information is set, is provided with according to graph of a relation shown in Figure 2, as principal arm 1 being arranged to the child node of turntable, method to set up is following:

m_pCraneTurntable＝new?GroupNode；

m_pCraneTurntable-＞SetName(″CraneTurntable″)；

m_pCraneTurntable-＞AddChild(m_pCraneBoom1)；

Wherein m_pCraneTurntable is the turntable group node, and m_pCraneBoom1 is principal arm 1 group node, and the setname function is the defined node title, and the addchild function is added to principal arm 1 node the child node of turntable node.

Moreover each group node comprises two parts, and a part is its child node, and a part is its body node in addition, and the body node is used for accomplishing the crane actual drawing partly of this node representative.Lift turntable body node specification, concrete implementation method is following:

m_pCraneTurntable-＞AddChild(m_pShape_CraneZhuanT)；

m_pShape_CraneZhuanT-＞SetGraphicalObj?ect(m_pCraneZhuanT)；

M_pShape_CraneZhuanT is the body node of turntable, is the ShapeNode type,

M_pCraneZhuanT is the GraphicalObject type of the turntable that begins to set up most, utilizes

The body node of SetGraphicalObject function setup turntable.

After all nodal informations have set; In the time will carrying out the function drafting; VC will begin search from uppermost node, searches a group node, just finds out its body node; Find the GraphicalObject class that matches from the body node then, utilize the draw function of GraphicalObject to carry out the drafting of entity.

At last, through self-defined configuration mode or based on the parameter of operating mode inquiry and the model selection crane that adds, and accomplish crane and draw, and the crane of drawing is presented in the scene.If select self-defined configuration mode to set up the heavy-duty machine model, the parameter of an instance is: multiplying power is 4, and each saves the arm stroke is 100%, and counterweight is 0; The angle of revolution is 0, and the supporting leg span is for stretch entirely, and suspension hook weight is 1.3; Do not have auxiliary, the crane amplitude is 5 meters, after parameter setting is good; After click was confirmed, VC++ will carry out the run () function of OpenGL and draw, and the run function reads crane on the backstage node is provided with information; Successively each node is drawn, drawn the crane data message of handling and be saved in the internal memory, this moments 5, the joint arm coincided together; Stroke according to every joint arm carries out corresponding translation with arm then, such as the second joint arm is flexible 100%, just with second and third, four, five, six these 5 joint arm translations second save 100% distance of arm total lengths; The 3rd joint arm is flexible 100%, so just on the basis of the second joint arm third and fourth, this 4 joint arm translation the 3rd of five, six joint arms saves 100% of arm total length, by that analogy., the crane models show is come out after all translation puts in place at each joint arm.

Then, add lifting object and barrier, click and add the lifting object button and add the barrier button, eject lifting object or barrier and add the interface dialog box; Carry out the interpolation of lifting object and barrier, as add one 10 tons square lifting object, the lifting object attribute is set; Object color is set to redness, and the length of dimension of object is 3m, and the geometric center point coordinate is (20; 1.5,0), lifting object weight is 10 tons.Carry out the suspender setting then, the suspender pattern promptly is set, highly, width L1, width L2 be respectively 2,1,1; Carry out the interpolation of barrier, add a right cylinder, object names is 12, and object color is selected red, and its bottom surface radius of dimension of object is set to 2m, and the cylinder height is set to 6m, and the geometric center point coordinate is (20,3,0).

The concrete implementation of adding lifting object and barrier is: the barrier model is drawn through pro/e software; Then model is saved as the cpp formatted file; The parameter of lifting object and barrier is set through man-machine interface; Utilize these parameters to combine the cpp file data, call the OpenGL function through VC++ and in scene, redraw, obtain demand barrier model.With each barrier model node as child node independently under the total root node of scene; Driving is not separately disturbed mutually, utilizes the glTranlate function that barrier is carried out the driven in translation [utilizing the glTranlate function to realize barrier is carried out the translation on all directions] on all directions.It is similar that the foundation of barrier model and lifting object model and crane are set up mode; Difference is that the model data of lifting object and barrier is that the user draws according to actual conditions; And can set size through revising parameter; For example the square length of side of this drafting is 50, need to adopt the square of the length of side 100 in the modeling rendering afterwards, can be on the model basis of having set up this parameter of the length of side is put to be twice to get final product.

Lifting object and barrier are provided with completion; Promptly accomplished building of scene; If lifting object or barrier need remodify attribute; Can add again after the object deletion through selecting, also can move or the XZ face moves and waits operation to reach design requirement, perhaps carry out the modification of attribute through double-click lifting object or barrier through the XY face.

After accomplishing the lifting scene setting, just can lift emulation.Before lifting emulation, the destination locations of lifting need be set.The target location (5,5,0) of lifting is set.In hoisting process, show the running parameter of current lifting in the screen upper left corner, as shown in Figure 3.

After beginning lifting, realize lifting simulated operation through keyboard operation.Operation mainly comprises revolution, rising and three operations of luffing.The concrete implementation of Keyboard Control lifting simulated operation is: control through keyboard, to being correlated with key is set and catches.Based on the lifting actual features, the revolution operation just drives the turntable node, and utilizing OpenGL function glRotate function is that rotating shaft is rotated with the z axle; In like manner, the luffing operation is that rotating shaft carries out corresponding rotation to arm with the x axle exactly; Last lift operations utilizes the glTranlate function directly lifting object to be carried out the position translation operation exactly.Concrete operations are: through " F ", the motion of " R " button driving rotational platform, " G ", " T " button drive elevation angle variation, " H ", the elevating movement of " Y " button driving lifting rope.

Come better, realize more easily operation through adding the visual angle function of browse, be respectively due east, due south, Zheng Xi, positive north and overlook shown in 5 visual angles like Fig. 4 to Fig. 8.Also can change the visual angle through keyboard operation, non-productive operation, the concrete operations mode is: due south, due east; The reach of " W " viewpoint during the Zheng Xi visual angle, is pressed in positive north, moves after " S " viewpoint; " A " viewpoint moves to left, and " D " viewpoint moves to right, and " Q " viewpoint is to anticlockwise; " E " viewpoint is moved on " Z " viewpoint to right rotation, and " C " viewpoint moves down.When overlooking, press the reach of " W " viewpoint, move after " S " viewpoint, " A " viewpoint moves to left, and " D " viewpoint moves to right, and moves on " Z " viewpoint, and " C " viewpoint moves down.

Artificial come lifting object is carried out the lifting of order to B from the A point through keyboard, autonomous operation exports on the screen upper left side when reaching impact point that " lifting object has been positioned at the lifting terminal point! " and show correlation parameter, and the operation that can not lift again.Wherein, Parameter shows that with red font is outstanding parameter comprises crane model, multiplying power, counterweight, supporting leg span, crane brachium, crane amplitude, the crane elevation angle, crane major-minor arm angle, crane rotation angle, crane hook position and information such as crane is specified, actual loading.

A calculated examples about the amount of deflection of arm and corner is following:

Object to hang a Q=10 ton is illustrated as example, and the deflection deformation that the present invention is based on the crane load behavior of certain manufacturer shows.In simulating scenes, be provided with the initial point that the crane rotation center is a coordinate system; This crane has 6 joint arms, so the span of i is [0,1,2,3,4,5], arranges four arm pin-and-holes in 0%, 46%, 92%, 100% ratio respectively at the upper cover plate of basic arm and two, three, four, five, six joint arms.

1. preset parameter obtains.Each maximum elongation amount LS_MAX that saves arm is 9.8 meters, 1-6 joint arm respectively save when full reduced hinge under the arm centroidal distance apart from init_Lg _i, i ∈ (0,5) is respectively 6.057 meters, and 6.340 meters, 6.571 meters, 6.858 meters, 6.081 meters, 8.393 meters.Amplitude oil cylinder is 6.880 meters to arm tail hinge distance for a to the arm strong point.1-6 joint arm respectively save when full reduced the arm arm head to arm tail hinge apart from init_Z _i, i ∈ (0,5) is respectively 12.410 meters, and 12.610 meters, 12.810 meters, 13.010 meters, 13.210 meters, 13.580 meters.In vertical plane, 1-6 joint arm is to the moment of inertia I of horizontal direction _Xi, i ∈ (0,5) is respectively the 6.62e9 Kilograms Per Square Meter, and 5.19e9 Kilograms Per Square Meter, 3.98e9 Kilograms Per Square Meter, 2.9e9 Kilograms Per Square Meter, 2.1e9 Kilograms Per Square Meter, 1.327e9 Kilograms Per Square Meter, the elastic modulus E of arm are the lucky handkerchief of 210e3.The long e1 of the arm of force of top sheave is 0.5 meter, and the long e2 of the arm of force of lower sheave is 0.6 meter.The weight M of 1-6 joint arm _i, i ∈ (0,5) is respectively 3733.8 kilograms, and 3051.8 kilograms, 2773.9 kilograms, 2352 kilograms, 2014 kilograms, 1877 kilograms.The operating mode of having taked 2-6 joint arm to stretch entirely, i.e. n _i=100%, i ∈ (1,5).

The coordinate that lifting object is set is (21.3,3,0), the tail twisted point of arm to the lifting object center apart from d=21.3, the elevation angle does $\mathrm{\θ}=\mathrm{Arccos}\frac{d}{l}=69.7;$

Suspension hook weight G _bBe 1.3 tons, multiplying power n is 4, Q=10*1000*9.8=98000 (N),

Q=1.3*1000*9.8=12740 (N) can obtain

Mzb＝G _b＝3733.8*9.8+3051.8*9.8+2773*9.8+2352*9.8+2014*9.8+1877*9.8＝154855.7(N)

γ _b=Lzb/l=0.445, l=61410 (mm) wherein, Lzb=27254 (mm),

T _s＝1/n(Q+q)＝27685(N)，

Py＝62270.3(N)，M _ox＝(Q+q)sinθ*e ₂-T _s*e ₁＝48473611.7(N)；

Computing formula according to Lg_i: $\mathrm{Lg}\_i=\mathrm{Init}\_\mathrm{Lg}\_i+\underset{i=0}{\overset{i}{\mathrm{\Σ}}}{n}_i\·\mathrm{LS}\_\mathrm{MAX}\_i,$ Can try to achieve

Lg_0＝6057(mm)；Lg_1＝16140(mm)；Lg_2＝26171(mm)；Lg_3＝36258(mm)；

Lg_4＝46281(mm)；Lg_5＝57393(mm)；

According to Z _iComputing formula, $Z_i=\mathrm{Init}\_Z_i+\underset{i=0}{\overset{i}{\mathrm{\Σ}}}{n}_i\·\mathrm{LS}\_\mathrm{MAX}\_i,$ Can try to achieve Z0=12410 (mm);

Z1＝22210(mm)；Z3＝32010(mm)；Z4＝41810(mm)；Z5＝51610(mm)；

According to Calculation of Deflection and corner computing formula, can obtain:

f0＝984mm；f1＝1112mm；f2＝884mm；f3＝628mm；f4＝325mm；f5＝78mm；

θ0＝1.48；θ1＝2.85；θ2＝2.90；θ3＝2.857；θ4＝2.39；θ5＝1.33；

After the assembling crane was accomplished, each saves the flexible information of arm just can confirm that present embodiment is 100% entirely in the present embodiment, and the hoisting process crane can not be changed configuration.

Set the coordinate (x0 of rotating shaft center of the 1st joint arm; Order between each arm during y0,0), according to the transformational relation of OpenGL object coordinate system and world coordinate system and model assembling; Obtain following this (x0+D* (i-1)+2.2 of shaft center coordinate of i joint arm; Respectively save when y0,0) wherein D is the model assembling arm apart from size, 2.2 compensation for considering that model gap and scale error are done.In this instance, D=0.24m.First segment arm shaft center (5.466002,3.4799,0) is in perpendicular; The amount of deflection driven in rotation axle center (i=2-6) of 2-6 joint arm is respectively the 2nd joint arm (3.266002,3.4799,0), the 3rd joint arm (3.026,3.4799; 0), the 4th joint arm (2.786,3.4799,0), the 5th joint arm (2.546,3.4799; 0), the 6th joint arm (2.306,3.4799,0).

Crane lifting operation process has luffing, revolution, three kinds of actions of up-down, and hoisting process real-time calling amount of deflection drives and shows.The deflection of last amount of deflection resolves into vertical deflection and horizontal amount of deflection shows.Vertical deflection is approximately equal to the cosine value that combined deflection multiply by the gib arm of crane elevation angle, and horizontal amount of deflection is approximately equal to the sine value that combined deflection multiply by the gib arm of crane elevation angle.Carry out repeatedly, deflection deformation repeatedly test, vertical deflection and actual comparison are as shown in table 1.

Table 1 amount of deflection three dimensional realization effect and actual effect are relatively

(annotate: what the jib array mode was represented in the table is the combination of 2-6 joint arm in 0%, 46%, 92%, 100% ratio, and 1 expression is full reduced, and 2 expressions are stretched out by 46%, and 3 expressions are stretched out by 92%, and 4 expressions are stretched out by 100%.

Actural deflection is provided by problem partner-certain crane producer.)

Through repeatedly, test repeatedly, the Calculation of Deflection value is compared with the actual calculated value that records, the source of error mainly contains the approximate treatment of the measuring error and the vertical deflection of data, but global error is less relatively, has verified the validity of Calculation of Deflection.

Claims (8)

1. the truck-mounted crane lifting emulation mode based on virtual reality is characterized in that, may further comprise the steps:

Step 1: new construction also is engineering name of newly built construction setting;

Step 2: set up the heavy-duty machine model;

Step 3: add lifting object and barrier;

Step 4: the lifting impact point is set;

Step 5: realize lifting simulated operation through keyboard operation, arrive the lifting impact point up to lifting object, lifting finishes, and preserves the operating process from the lifting starting point to the lifting impact point.

2. the truck-mounted crane lifting emulation mode based on virtual reality according to claim 1 is characterized in that, in the step 2, sets up the heavy-duty machine model through self-defined configuration mode:

Set following parameter: multiplying power, counterweight, angle of revolution, crane supporting leg span, auxiliary angle, auxiliary brachium, second joint to the 6th joint arm stretch out ratio, crane principal arm brachium, crane amplitude; And set up the heavy-duty machine model according to the parameter of above setting.

3. the truck-mounted crane lifting emulation mode based on virtual reality according to claim 1; It is characterized in that; In the step 2, adopt based on the pattern of operating mode inquiry and interpolation and set up the heavy-duty machine model:, in crane operating mode table, inquire about according to operator's presetting condition querying condition; To obtain qualified operating mode, set up the heavy-duty machine model through operating mode.

4. the truck-mounted crane lifting emulation mode based on virtual reality according to claim 1 is characterized in that in the step 3, the implementation method of adding lifting object or barrier is: the function that utilizes VC to call OpenGL is drawn; The data of lifting object or barrier model directly exist draws in the function, when drawing, calls and draws the direct reading of data completion of function drafting;

Perhaps; The data of lifting object or barrier model are read in from outer file: draw out lifting object or barrier model through pro/e software earlier; Then model is saved as the cpp formatted file, the parameter of lifting object or barrier is set, utilize VC to read the cpp formatted file then; Call the OpenGL function and in scene, redraw, accomplish lifting object or barrier and draw.

5. the truck-mounted crane lifting emulation mode based on virtual reality according to claim 2 is characterized in that in the step 2, the process of setting up the heavy-duty machine model according to the parameter of setting is:

Preserve into the .cpp file after will presetting type crane three-dimensional model file .prt file envelope; The data that comprised 5 aspects in this .cpp file; Face_indicies, material_ref, materials, normalst and vertices be totally 5 parts; This 5 partial data is deposited in respectively in 5 txt files, be respectively face_indicies.txt, material_ref.txt, materials.txt, normals.txt and vertices.txt; Wherein:

What (1) store among the face_indicies.txt is the each several part data directory information of crane, points to summit three dimensional space coordinate data, comprises the corresponding data of chassis, 4 supporting legs, turntable, principal arm and auxiliarys;

(2) material_ref.txt stores the index information of material, is used to refer to material quality data information;

(3) materials.txt stores material information;

What (4) normals.txt stored is the normal information on summit, and what vertices.txt stored is vertex data information;

Then these 5 txt files are put under the newly-built engineering place catalogue of step 1;

Then; For chassis, oil cylinder, supporting leg, turntable, principal arm, auxiliary and the suspension hook of crane model are set up the GraphicalObject class; Above-mentioned 5 txt files of visit in GraphicalObject::draw () function; Obtain the every partial data of crane model, utilize glBegin (GL_TRIANGLES), glEnd (), glNormal3f, glTexCoord2f and glVertex3f function among the OpenGL that the data that obtain are operated; Secondly, crane model each several part node dependency information is set, is provided with according to the subordinate relation of each node

Each node comprises two parts, and a part is its child node, and a part is its body node in addition, and the body node is used for accomplishing the actual drawing of the crane model each several part of this node representative;

After all nodal informations are provided with completion; Carrying out function draws: VC begins search from uppermost node; Search a group node; Just find out its body node; Find the GraphicalObject class that matches from the body node then, utilize the draw function of GraphicalObject to carry out the drafting of entity; When the drawing of accomplishing all nodes, then the full graphics of crane is drawn out and is presented in the scene.

6. based on each described autocrane lifting emulation mode of claim 1-5 based on virtual reality; It is characterized in that; In step 5; The amount of deflection and the corner of each joint arm are about to this amount of deflection that calculates and corner and are loaded in the crane model of foundation in the arm of consideration crane under the lifting object influence; And utilize the corner of the every joint arm try to achieve, drive the every joint arm corresponding in the heavy-duty machine model of building up with corner, the child node of every joint arm produces interlock, and in graphical interfaces the amount of deflection deformation quantity of the whole arm of real-time demonstration.

7. according to each described truck-mounted crane lifting emulation mode of claim 6, it is characterized in that described Calculation of Deflection method is following based on virtual reality:

The amount of deflection of the arm i joint arm of crane

The i round numbers is since 1; Wherein, arm length overall when l is work, this value is regular length, Z _iBe the distance of each joint arm arm head to arm tail hinge; E is the arm elastic modulus, the constant relevant with material, p _yStressed for the arm axis direction, M _OxBe torque; I _XiBe the moment of inertia of each joint arm to the x axle.

8. according to each described truck-mounted crane lifting emulation mode of claim 7, it is characterized in that the stressed p of said arm axis direction based on virtual reality _yComputing method be p _y=(Q+q) cos θ+γ _bG _bCos θ; Wherein Q is input lift heavy load, and q is that suspension hook and pulley blocks are heavy, and θ is the angle of arm and turntable; γ _bBe arm deadweight conversion coefficient, γ _b=Lzb/l, wherein, Izb is the arm centre of gravity place,

Mzb is an arm weight,

M _iBe the weight of each arm, Lg_i is the centre of gravity place of each arm under any operating mode,

Init_Lg _iFor each arm centre of gravity place when arm is full reduced apart from the distance of hinge under the arm; n _iBe the flexible number percent of each arm, LS_MAX _iBe the maximal dilation amount of every joint arm, M _OxBe torque, M _Ox=(Q+q) sin θ * e ₂-T _s* e ₁, e ₁, e ₂Be upper and lower pulley forces brachium, T _sBe the suffered pulling force of lifting rope, T _s=1/n (Q+q), n are the suspension hook multiplying power, round numbers; X, y are respectively the coordinate axis in institute's established model; The amount of deflection rotational angle theta of every joint arm _iComputing formula following:

Parameter i in above-mentioned is an integer, since 1 value;

The first segment arm is divided into two sections by oil cylinder, and oil cylinder is a to the strong point of arm to arm tail hinge distance, Z ₀Be divided into two segment distances, be respectively a and Z ₀-a, the amount of deflection f of this arm ₀Be calculated as:

Its corresponding rotational angle theta ₀Be calculated as:

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