CN102663196B - 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 hoisting simulation method based on virtual reality

Technical field

The present invention relates to a kind of truck-mounted crane hoisting simulation method based on virtual reality.

Background technology

Along with the enhancing of china's overall national strength, industrial scale develops to super-hugeization, the development of the construction modes such as new modular construction and monoblock type assembling, impelled the increase of hanging device quantity and assembly weight in lifting industry, lifting distance increases, will requirements at the higher level be proposed to lifting industry, in order to adapt to more complicated working environment, safety is successfully carried out lifting operation, and rationally overall arrangement crane resource, accuracy, rationality, high efficiency and the reliability of each Construction Company to Conceptional Design of Main Girder Erection all had higher requirement.Therefore,, in order greatly to reduce under the premise that security is guaranteed workload and the cost of lifting operation, formulation safety, reliable, reasonable, efficient Hoisting Program just seem particularly important.

At present, the formulation of China's Hoisting Program is mainly to carry out with manual type, because Hoisting Program is formulated very complicated, often be difficult to take into account efficient and safety, and can only carry out feasibility and the effect that analytical plan is implemented by hand computation and experience after solution formulation, there is very large error in this analytical approach, be also difficult to the effect that precognition Hoisting Program is implemented simultaneously, thereby badly influence efficiency, cost and the security etc. of lifting operation.So lifting industry is in the urgent need to the emulation mode of a set of three-dimensional simulation.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind of truck-mounted crane hoisting simulation method based on virtual reality, and truck-mounted crane hoisting simulation method that should be based on virtual reality is easy to implement, can simulate exactly crane hanging component operation process.

The technical solution of invention is as follows:

A truck-mounted crane hoisting simulation method based on virtual reality, comprises the following steps:

Step 1: new construction is also that newly built construction is set an engineering name;

Step 2: set up heavy-duty machine model;

Step 3: add lifting object and barrier;

Step 4: lifting impact point is set;

Step 5: realize lifting simulated operation by keyboard operation, until lifting object arrives lifting impact point, [arrive point of destination and have prompting, can show (being exactly the upper left of screen) at running parameter, then font is red, error is relevant with the precision of amount of deflection, and the error on 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 lifting starting point to lifting impact point.

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

Set following parameter: multiplying power, counterweight, angle of revolution, crane support span, auxiliary angle, auxiliary brachium, second section to the six joint arms stretch out ratio, main arm of crane brachium, [amplitude refers to the operating radius of crane to 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 heavy-duty machine model according to the parameter of above setting.

In step 2, adopt the Model Establishment crane model of inquiring about and adding based on operating mode: the operating mode querying condition of setting according to operator, in crane operating mode table, inquire about, to obtain qualified operating mode, by operating mode, set up heavy-duty machine model.[operating mode table is storing following information: the in the situation that of corresponding amplitude, corresponding counterweight, corresponding brachium, can maximum hang multiple object.】

In 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 function, calls the direct reading out data of drafting function and complete drafting when drawing.

Or, [for complicated lifting object or barrier, ] data of lifting object or barrier model read in from outer file: first by pro/e software, draw out lifting object or barrier model, then model is saved as to cpp formatted file (cpp formatted file deposit be exactly the data of lifting object or barrier model), arrange lifting object or barrier parameter [parameter be after arrange, the data of cpp file are raw data, these parameters operate these data exactly, draw an analogy, such as size is set, be 2, that is exactly 2 times of original size], then utilize VC to read cpp formatted file, call OpenGL function redraws in scene, completing lifting object or barrier draws.

Lifting object is the same with barrier method for establishing model, but add in 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, using each barrier model node child node independently under the total root node of scene, driving does not separately interfere with each other, and utilizes glTranlate function to realize barrier is carried out to the translation in all directions.The final purpose of OpenGL function is exactly in order to redraw, for complex barrier thing and complicated lifting object, the data of cpp file are read into then to redraw, simple obstacle thing and lifting object need not be read cpp file data, their data have directly added just inside drawing function, need not read external file.

In step 2, the process of setting up 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 be used, after need to transforming, could use] preserve into .cpp file after 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:

(1) what in face_indicies.txt, store is the each several part data directory information of crane, [crane model is derived the data of coming and is consisted 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 large array the inside, such as the material information on summit 5 is in the 10th position of this array, will deposit No. 10 positions in a pointed material information so inside face_indicies.txt.

(3) materials.txt stores material information, material just comprises colouring information in this software, if such as there is no material information, the rectangular parallelepiped drawing does not have coloured exactly, such as having added red material information, after rectangular parallelepiped draws, will be red;

(4) what normals.txt stored is that [crane model is derived the data of coming and consisted of a lot of triangles on summit, the meaning on this summit is exactly leg-of-mutton three summits] normal information, vertices.txt store be vertex data information [data are 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 GraphicalObject class, in GraphicalObject::draw () function, access above-mentioned 5 txt files, obtain the data of the every part of crane model, utilize glBegin (GL_TRIANGLES), glEnd (), glNormal3f, glTexCoord2f and glVertex3f function in OpenGL that the data of acquisition are operated; Secondly, arrange 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 A node is the slave node of B node.It is exactly to utilize a function setup to become the child node of B node A node that dependency information is set], according to the subordinate relation of each node, arrange

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

After all nodal information settings complete, carry out function drafting: VC and start search from uppermost node, search a group node, just find out its body node, then from body node, find the GraphicalObject class matching, utilize the draw function of GraphicalObject to carry out the drafting of entity; When completing the drawing of all nodes, the full graphics of crane is out drawn and be presented in scene.

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

Described Calculation Method of Deflection is as follows:

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

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

The stressed p of described 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 suspension hook and pulley blocks weight, and θ is the angle of arm and turntable; γ _bfor arm deadweight conversion coefficient, γ _b=Lzb/l, wherein, Izb is arm centre of gravity place, $\mathrm{Lzb}=\underset{i=0}{\overset{i}{\mathrm{\Σ}}}(M_i*\mathrm{Lg}\_i)/\mathrm{Mzb},$ Mzb is arm weight,

m _ifor 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 is apart from the distance of hinge under arm; n _ifor the flexible number percent of each arm, LS_MAX _ifor the maximal dilation amount of every joint arm, M _oxfor torque, M _ox=(Q+q) sin θ * e ₂-T _s* e ₁, e ₁, e ₂for upper and lower pulley forces brachium, T _sfor the suffered pulling force of lifting rope, T _s=1/n (Q+q), n is suspension hook multiplying power, round numbers; X, y is respectively the coordinate axis in institute's established model; The amount of deflection rotational angle theta of every joint arm _icomputing formula as follows:

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

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

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 hoisting simulation method 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 in advance the problem that may occur in the concurrent existing implementation process of infeasible Hoisting Program, by the mode of emulation comparison, seek best Hoisting Program.This will greatly improve the efficiency of Hoisting Program formulation, improves feasibility, security and the accuracy of Hoisting Program simultaneously.

Adopt the truck-mounted crane hoisting simulation method based on virtual reality of the present invention, adopt VC6.0++ to call OpenGL and carry out the foundation of truck-mounted crane model and object scene model, in VC6.0++ environment, programming realizes the Real Time Drive of truck-mounted crane model and model of place, the hoisting process of simulated automotive crane in fixed scene, emulation obtains the routing information in hoisting process, the information such as collision information and truck-mounted crane erect-position, and information exchange is crossed to document output, for operating personnel's reference, can get rid of in advance the problem that may occur in the concurrent existing implementation process of infeasible Hoisting Program, by emulation, relatively seek best Hoisting Program, this will greatly improve the efficiency of Hoisting Program formulation, improve the feasibility of Hoisting Program simultaneously, security and accuracy.This method is integrated several functions, comprises that scene construction, operating mode inquiry, hoisting simulation, visual angle browse and the 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 consider the impact of amount of deflection on arm, thereby can simulate more accurately the state of arm in actual hoisting process, thereby made more accurate and effective of result.

Can the hoisting process of simulated automotive crane in fixed scene, emulation obtains the information such as routing information, collision information and the truck-mounted crane erect-position in hoisting process, and information exchange is crossed to document and export out, for operating personnel's reference, systemic-function is powerful, easy and simple to handle, there is actual directive significance.

Accompanying drawing explanation

Fig. 1 is the process flow diagram of the truck-mounted crane hoisting simulation method based on virtual reality;

Fig. 2 is crane node sequence table;

Fig. 3 is the schematic diagram that lifting prevents process;

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 the crane model view of overlooking visual angle;

Embodiment

Below with reference to the drawings and specific embodiments, the present invention is described in further details:

Embodiment 1:

The process flow diagram of the truck-mounted crane hoisting simulation method based on virtual reality is as Fig. 1; By the weight that hangs 10 tons, be example, utilize native system that weight is reached to B from place A and realize the simulated operation that lifting operates.

First, new construction, sets up the engineering name of this hoisting simulation.Input engineering name is engineering 1, sets job location, selects commencement date.

Then, by hand assembled pattern or employing operating mode, add Model Establishment crane model, crane comprises six joint arms altogether, by hand assembled, set up heavy-duty machine interface, setting multiplying power n is 4, and counterweight is 0, and angle of revolution is 0, crane support span is for entirely stretching, auxiliary angle is 0, and auxiliary brachium is 0, and second section to the six joint arm ratios of stretching out are 100%, main arm of crane brachium is 62.5m, and crane amplitude is 5m.The foundation of crane also can be added by operating mode, setting operating radius is 10m, sling height 10m, 10 tons of hoisting weights, select querying condition, comprise the combination of minimum counter, the simplest jib, minimum brachium and the shortest supporting leg span, the crane type that obtains meeting working condition by inquiry is SAC2200.Operating mode is saved in txt file, then utilizes the result inquiring to set up heavy-duty machine.

The specific implementation step that crane is set up is as follows: will after certain type crane three-dimensional model file .prt file envelope, preserve into .cpp file, 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 automatically divided when preserving into cpp form, 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 in face_indicies.txt, store is the each several part data directory information of crane, point to respectively material, vertex data, comprise the parts such as chassis, 4 supporting legs, turntable, principal arm and auxiliarys, 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 GraphicalObject class, in GraphicalObject::draw () function, access above-mentioned 5 txt files, obtain the data of the every part of crane, utilize the functions such as glBegin (GL_TRIANGLES), glEnd (), glNormal3f, glTexCoord2f and glVertex3f in OpenGL that the data of acquisition are operated; Secondly, crane each several part node dependency information is set, according to graph of a relation shown in Fig. 2, arranges, as principal arm 1 being arranged to the child node of turntable, method to set up is as follows:

m_pCraneTurntable＝new?GroupNode；

m_pCraneTurntable-＞SetName(″CraneTurntable″)；

m_pCraneTurntable-＞AddChild(m_pCraneBoom1)；

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

Moreover each group node comprises two parts, a part is its child node, and a part is its body node in addition, and body node has been used for the actual drawing of crane part of this node representative.Lift turntable body node specification, concrete methods of realizing is as follows:

m_pCraneTurntable-＞AddChild(m_pShape_CraneZhuanT)；

m_pShape_CraneZhuanT-＞SetGraphicalObj?ect(m_pCraneZhuanT)；

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

M_pCraneZhuanT is the GraphicalObject type that starts the turntable of setting up most, utilizes

The body node of SetGraphicalObject function setup turntable.

After all nodal informations have set, in the time will carrying out function drafting, VC will start search from uppermost node, search a group node, just find out its body node, then from body node, find the GraphicalObject class matching, utilize the draw function of GraphicalObject to carry out the drafting of entity.

Finally, by self-defined configuration mode or based on operating mode, inquire about and the parameter of the model selection crane that adds, and complete crane and draw, and the crane of drafting is presented in scene.If select self-defined configuration mode, set up heavy-duty machine model, the parameter of an example is: multiplying power is 4, each joint arm stroke is 100%, counterweight is 0, angle of revolution is 0, supporting leg span is for entirely stretching, suspension hook weight is 1.3, there is no auxiliary, crane amplitude is 5 meters, after setting parameter is good, after click is determined, VC++ will carry out the run () function of OpenGL and draw, run function reads the Node configuration information of crane on backstage, successively each node is drawn, the crane data message that drafting is handled is saved in internal memory, now 5 joint arms coincide together, then according to the stroke of every joint arm, arm is carried out to corresponding translation, such as second section arm flexible 100%, just by second, three, four, five, 100% distance of six these 5 joint arm translation second section arm total lengths, section three, arm flexible 100%, so just on the basis of second section arm the 3rd, four, five, 100% of Section of three arm total length of this 4 joint arm translation of six joint arms, by that analogy.At each joint arm after all translation puts in place, by crane models show out.

Then, add lifting object and barrier, click and add lifting object button and add barrier button, eject lifting object or barrier and add interface dialog box, carry out the interpolation of lifting object and barrier, as add the square lifting object of 10 tons, lifting object attribute is set, object color is set to redness, the length of dimension of object is 3m, and geometric center point coordinate is (20,1.5,0), lifting object weight is 10 tons.Then carry out suspender setting, suspender pattern 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 cylinder height is set to 6m, and geometric center point coordinate is (20,3,0).

The specific implementation of adding lifting object and barrier is: barrier model is drawn by pro/e software, then model is saved as to cpp formatted file, the parameter of lifting object and barrier is set by man-machine interface, utilize these parameters in conjunction with cpp file data, by VC++, call OpenGL function and redraw in scene, obtain demand barrier model.Using each barrier model node child node independently under the total root node of scene, driving does not separately interfere with each other, and utilizes glTranlate function to carry out the driven in translation [utilize glTranlate function to realize barrier is carried out to the translation in all directions] in all directions to barrier.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 user draws according to actual conditions, and can set size by revising parameter, the square length of side of for example this drafting is 50, in modeling rendering afterwards, need to adopt the square of the length of side 100, can on the model basis of having set up, this parameter of the length of side be put and is twice.

Lifting object and barrier setting complete, completed building of scene, if lifting object or barrier need to remodify attribute, can after selecting object to delete, again add, also can move or XZ face the operation such as moves and reaches design requirement by XY face, or carry out the modification of attribute by double-clicking lifting object or barrier.

Completing after lifting scene setting, just can carry out hoisting simulation.Before hoisting simulation, the destination locations of lifting need to be set.The target location (5,5,0) of lifting is set.In hoisting process, in the screen upper left corner, show the running parameter of current lifting, as shown in Figure 3.

Start, after lifting, by keyboard operation, to realize lifting simulated operation.Operation mainly comprises revolution, rising and three operations of luffing.The specific implementation of Keyboard Control lifting simulated operation is: by keyboard, control, to being correlated with, key is set and catches.According to lifting actual features, revolution operation just drives turntable node, utilizes OpenGL function glRotate function to be rotated take z axle as turning axle; In like manner, corresponding rotation is carried out in luffing operation exactly take x axle as turning axle to arm; Upper lift operations utilizes glTranlate function directly lifting object to be carried out to position translation operation exactly.Concrete operations are: by " F ", " R " button, drive panoramic table motion, " G ", " T " button drive elevation angle variation, " H ", " Y " button to drive lifting rope elevating movement.

By adding visual angle function of browse, carry out better, realize more easily operation, as Fig. 4 to Fig. 8 is respectively due east, due south, Zheng Xi, positive north and overlooks as shown in 5 visual angles.Also can change visual angle by keyboard operation, non-productive operation, concrete operations mode is: due south, due east, just north, during Zheng Xi visual angle, press the reach of " W " viewpoint, after " S " viewpoint, move, " A " viewpoint moves to left, and " D " viewpoint moves to right, " Q " viewpoint is to anticlockwise, " E " viewpoint, to right rotation, is moved in " Z " viewpoint, and " C " viewpoint moves down.While overlooking, press the reach of " W " viewpoint, after " S " viewpoint, move, " A " viewpoint moves to left, and " D " viewpoint moves to right, and in " Z " viewpoint, moves, and " C " viewpoint moves down.

Manually by keyboard, lifting object is carried out the lifting of ordering to B from A point, autonomous operation, in the output of screen upper left side, " lifting object has been positioned at lifting terminal while reaching impact point! " and show correlation parameter, and the operation that can not lift again.Wherein, parameter highlights by red font, and parameter comprises the information such as crane model, multiplying power, counterweight, supporting leg span, crane brachium, crane amplitude, the crane elevation angle, crane major-minor arm angle, crane rotation angle, position of crane hook and crane is specified, actual loading.

As follows about the amount of deflection of arm and a calculated examples of corner:

With the object that hangs a Q=10 ton, be illustrated as example, 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 crane rotation center is coordinate system; This crane has 6 joint arms, so the span of i is [0,1,2,3,4,5], at the upper cover plate of basic arm and two, three, four, five, six joint arms, arranges four arm pin-and-holes respectively in 0%, 46%, 92%, 100% ratio.

1. preset parameter obtains.The maximal tensility LS_MAX of each joint arm is 9.8 meters, the distance init_Lg of hinge under each joint arm centroidal distance when 1-6 joint arm is full reduced _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 to suspension arm support put arm tail hinge distance for a be 6.880 meters.When 1-6 joint arm is full reduced, each joint arm arm head is to the distance init_Z of arm tail hinge _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, the moment of inertia I of 1-6 joint arm to horizontal direction _xi, i ∈ (0,5) is respectively 6.62e9 Kilograms Per Square Meter, 5.19e9 Kilograms Per Square Meter, and 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 is 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 entirely to stretch, i.e. n _i=100%, i ∈ (1,5).

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

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, wherein l=61410 (mm), 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)；

According to the computing formula of 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 amount of deflection, calculate 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；

In the present embodiment, after assembling crane completes, respectively save the flexible information of arm and just can determine, the present embodiment is 100% entirely, and hoisting process crane can not be changed configuration.

Set the coordinate (x0 of rotating shaft center of Section 1 arm, y0,0), order between each arm during according to the transformational relation of OpenGL object coordinate system and world coordinate system and Model Mounting, obtain following this (x0+D* (i-1)+2.2 of shaft center coordinate of i joint arm, y0,0) the distance size of each joint arm when wherein D is Model Mounting, 2.2 compensation of doing for consideration model gap and scale error.In this example, D=0.24m.First segment arm shaft center (5.466002,3.4799,0), in perpendicular, the amount of deflection of 2-6 joint arm drives rotating shaft center (i=2-6) to be respectively Section 2 arm (3.266002,3.4799,0), Section 3 arm (3.026,3.4799,0), Section 4 arm (2.786,3.4799,0), Section 5 arm (2.546,3.4799,0), Section 6 arm (2.306,3.4799,0).

Crane hanging component operation process has luffing, revolution, three kinds of actions of lifting, 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 combined deflection and is multiplied by the cosine value at the gib arm of crane elevation angle, and horizontal amount of deflection is approximately equal to combined deflection and is multiplied by the sine value at the gib arm of crane elevation angle.Carry out deflection deformation test repeatedly, repeatedly, vertical deflection and actual comparison are as shown in table 1.

Table 1 amount of deflection three dimensional realization effect and actual effect comparison

(note: what in table, jib array mode represented is that 2-6 saves arm in the combination of 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 represent to stretch out by 100%.

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

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

Claims (6)

1. the truck-mounted crane hoisting simulation method based on virtual reality, is characterized in that, comprises the following steps:

Step 1: new construction is also that newly built construction is set an engineering name;

Step 2: set up heavy-duty machine model;

Step 3: add lifting object and barrier;

Step 4: lifting impact point is set;

Step 5: realize lifting simulated operation by keyboard operation, until lifting object arrives lifting impact point, lifting finishes, and preserves the operating process from lifting starting point to lifting impact point;

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

Set following parameter: multiplying power, counterweight, angle of revolution, crane support span, auxiliary angle, auxiliary brachium, second section to the six joint arms stretch out ratio, main arm of crane brachium, crane amplitude; And set up heavy-duty machine model according to the parameter of above setting;

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

After presetting type crane three-dimensional model file .prt file envelope, preserve into .cpp file, 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:

(1) what in face_indicies.txt, store 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;

(4) what 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 GraphicalObject class, in GraphicalObject::draw () function, access above-mentioned 5 txt files, obtain the data of the every part of crane model, utilize glBegin (GL_TRIANGLES), glEnd(in OpenGL), glNormal3f, glTexCoord2f and glVertex3f function operate the data of acquisition; Secondly, crane model each several part node dependency information is set, according to the subordinate relation of each node, arranges

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

After all nodal information settings complete, carry out function drafting: VC and start search from uppermost node, search a group node, just find out its body node, then from body node, find the GraphicalObject class matching, utilize the draw function of GraphicalObject to carry out the drafting of entity; When completing the drawing of all nodes, the full graphics of crane is out drawn and be presented in scene.

2. the truck-mounted crane hoisting simulation method based on virtual reality according to claim 1, it is characterized in that, in step 2, the Model Establishment crane model that employing is inquired about based on operating mode and added: the operating mode querying condition of setting according to operator, in crane operating mode table, inquire about, to obtain qualified operating mode, by operating mode, set up heavy-duty machine model.

3. the truck-mounted crane hoisting simulation method based on virtual reality according to claim 1, is characterized in that, in 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 function, calls the direct reading out data of drafting function and complete drafting when drawing;

Or, the data of lifting object or barrier model are read in from outer file: first by pro/e software, draw out lifting object or barrier model, then model is saved as to cpp formatted file, the parameter of lifting object or barrier is set, then utilize VC to read cpp formatted file, call OpenGL function and redraw in scene, complete lifting object or barrier and draw.

4. according to the truck-mounted crane hoisting simulation method based on virtual reality described in claim 1-3 any one, it is characterized in that, in step 5, amount of deflection and the corner of each joint arm in the arm of consideration crane under lifting object impact, the amount of deflection that is about to calculate and corner are loaded in the crane model of foundation; And utilize the corner of every joint arm of trying to achieve, drive the every joint arm corresponding with corner in heavy-duty machine model of building up, the child node of every joint arm produces interlock, and in graphical interfaces the amount of deflection deformation quantity of the whole arm of demonstration in real time.

5. according to the truck-mounted crane hoisting simulation method based on virtual reality described in claim 4 any one, it is characterized in that, described Calculation Method of Deflection is as follows:

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

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

6. according to the truck-mounted crane hoisting simulation method based on virtual reality described in claim 5 any one, it is characterized in that the stressed p of described 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 suspension hook and pulley blocks weight, and θ is the angle of arm and turntable; γ _bfor arm deadweight conversion coefficient, γ _b=Lzb/l, wherein, Lzb is arm centre of gravity place,

mzb is arm weight,

m _ifor the weight of each arm, Lg_i is the centre of gravity place of each arm under any operating mode,

$\mathrm{Lg}\_i=\mathrm{init}\_\mathrm{Lg}\_i+\underset{i=0}{\overset{i}{\mathrm{\Σ}}}{n}_i\·\mathrm{LS}\_\mathrm{MAX}\_i,\mathrm{init}\_\mathrm{Lg}\_i$ For each arm centre of gravity place when arm is full reduced is apart from the distance of hinge under arm; n _ifor the flexible number percent of each arm, LS_MAX_i is the maximal dilation amount of every joint arm, M _oxfor torque, M _ox=(Q+q) sin θ * e ₂-T _s* e ₁, e ₁, e ₂for upper and lower pulley forces brachium, T _sfor the suffered pulling force of lifting rope, T _s=1/n (Q+q), n is suspension hook multiplying power, round numbers; X, y is respectively the coordinate axis in institute's established model; The amount of deflection rotational angle theta of every joint arm _icomputing formula as follows:

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

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

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:

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

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