CN110515316B - Control method and system of motion platform equipment - Google Patents

Abstract

The invention provides a control method and a control system of motion platform equipment, wherein the control method of the motion platform equipment comprises the following steps: sensing and acquiring sensing feedback data so as to generate a platform equipment controlled signal; acquiring equipment grouped data, and triggering equipment corresponding to the equipment grouped data by the platform equipment controlled signal; acquiring control interface data, and acquiring and sending a preset control signal set to a corresponding servo controller from the central control host; the corresponding servo controller executes the preset control signal to control the motion platform to operate; and acquiring and displaying the state feedback data of the corresponding servo controller. The invention effectively improves the reliability and the applicability of the motion platform equipment.

Description

Control method and system of motion platform equipment

Technical Field

The invention relates to a subsystem control technology, in particular to a control system and a control system of motion platform equipment.

Background

In the prior art where spatial motion of, for example, a rail car and/or a manned platform is controlled to fit a virtual scene, a user may experience an augmented and/or virtual reality environment through interaction with various electronic devices, with objects, elements, features, etc., interacting in different ways to select and/or manipulate virtual objects in the virtual environment. For example, a user may generate desired effects in the virtual environment by manipulating one or more external electronic devices, physical movements, and/or sound effect control simulations, etc., to interact therewith and control adjustments to the virtual environment, such as manned platforms and/or drive devices, etc. The existing space motion equipment is complex in servo equipment monitoring control logic processing, depends on manual trial touch and other operations in maintenance, is high in maintenance difficulty and high in maintenance cost, not only reduces the applicability of the equipment and a system, but also reduces the reliability and safety of motion platform equipment.

Therefore, the specific connection of the control system of the motion platform equipment and the design of the logic system of the method in the prior art have defects, and have the problems of low system reliability and low applicability.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a control method and system for a motion platform device, which are used to solve the technical problems of low system reliability and applicability existing in the prior art.

To achieve the above and other related objects, the present invention provides a method and system for controlling a motion platform device, including: sensing and acquiring sensing feedback data so as to generate a platform equipment controlled signal; acquiring equipment grouped data, and triggering equipment corresponding to the equipment grouped data by a platform equipment controlled signal; acquiring control interface data, acquiring and sending a preset control signal set to corresponding equipment from a central control host; the corresponding equipment executes a preset control signal to control the motion platform to operate; and acquiring and displaying state feedback data of the corresponding equipment.

In an embodiment of the present invention, the step of generating the device-controlled signal includes: acquiring a touch control combined signal by using a pressure sensing device; digitizing the touch control combined signal into sensing feedback data; analyzing the sensing feedback data to obtain control sequence information; the control sequence information is processed to obtain a platform device control signal.

In an embodiment of the present invention, the step of triggering the prefabricated platform device includes: analyzing the device grouping data to obtain trigger distribution information; acquiring equipment position list information from a master control host; processing the trigger distribution information and the equipment position list information into equipment positioning information; positioning the corresponding equipment according to the equipment positioning information; and triggering the corresponding equipment by the platform equipment controlled signal.

In one embodiment of the present invention, the step of generating motion control data includes: processing the control interface data to obtain interface list information and a vehicle-mounted control transmission link; generating data calling information according to the interface list information; acquiring preset control data from a master control host; screening preset control data according to the data calling information to obtain a preset control signal set; and transmitting a preset control signal set to the corresponding equipment through the vehicle-mounted control transmission link.

In an embodiment of the present invention, the step of displaying the feedback data includes: collecting motion control data and multimedia control data of corresponding equipment; transmitting the motion control data and the multimedia control data to the display device according to the control interface data; converting the motion control data and the multimedia control data into platform control display data; and controlling the display data by the display device display platform.

In an embodiment of the present invention, a control system for a motion platform device includes: the controlled sensing unit is used for sensing and acquiring sensing feedback data so as to generate a platform equipment controlled signal; the equipment triggering unit is used for acquiring equipment grouped data and triggering corresponding equipment of the equipment grouped data by a platform equipment controlled signal, and the equipment triggering unit is connected with the controlled induction unit; the control data unit is used for acquiring control interface data, acquiring and sending a preset control signal set to corresponding equipment from the central control host, and is connected with the equipment triggering unit; the platform operation unit is used for executing a preset control signal by corresponding equipment so as to control the motion platform to operate, and is connected with the control data unit; and the display unit is used for acquiring and displaying the state feedback data of the corresponding equipment and is connected with the platform operation unit.

In an embodiment of the present invention, the controlled sensing unit includes: the pressing sensing assembly is used for acquiring a touch combined signal by using the pressure sensing device; the controlled numeralization component is used for numerating the touch combined signal as sensing feedback data and is connected with the pressing sensing component; the controlled processing assembly is used for analyzing the sensing feedback data to obtain control sequence information and is connected with the controlled numerical component; and the control signal component is used for processing the control sequence information to obtain a platform equipment control signal and is connected with the control processing component.

In one embodiment of the present invention, an apparatus triggering unit includes; a packet data component to analyze device packet data to obtain trigger distribution information; the equipment position component is used for acquiring equipment position list information from the central control host; the equipment positioning component is used for processing the trigger distribution information and the equipment position list information into equipment positioning information, is connected with the grouped data component and is connected with the equipment position component; the corresponding equipment assembly is used for positioning the corresponding equipment according to the equipment positioning information and is connected with the equipment positioning assembly; and the corresponding trigger component is used for triggering the corresponding equipment by the platform equipment controlled signal, and is connected with the corresponding equipment component.

In one embodiment of the present invention, a control data unit includes: the interface processing component is used for processing the control interface data to obtain interface list information and a vehicle-mounted control transmission link; the central control interface component is used for generating data calling information according to the interface list information and is connected with the interface processing component; the central control data assembly is used for acquiring preset control data from the central control host; the control screening component is used for screening preset control data according to the data calling information to obtain a preset control signal set, and is connected with the central control interface component and the central control data component; and the control transmission assembly is used for transmitting the preset control signal set to the corresponding equipment through the vehicle-mounted control transmission link and is connected with the control screening assembly.

In one embodiment of the present invention, a display unit includes: the device data acquisition assembly is used for acquiring motion control data and multimedia control data of corresponding devices; the display transmission assembly is used for transmitting the motion control data and the multimedia control data to the display equipment according to the control interface data, and is connected with the equipment data acquisition assembly; the display conversion component is used for converting the motion control data and the multimedia control data into platform control display data and is connected with the display transmission component; and the display component is used for controlling display data by using the display equipment display platform and is connected with the display conversion component.

In one embodiment of the present invention, a multiple degree of freedom exercise apparatus includes: a motion platform; the driving motor set is arranged in the motion platform; the transmission shaft group is connected with the driving motor group; a control system for a motion platform device, comprising: the controlled sensing unit is used for sensing and acquiring sensing feedback data so as to generate a platform equipment controlled signal; the equipment triggering unit is used for acquiring equipment grouped data and triggering equipment corresponding to the equipment grouped data by a platform equipment controlled signal; the control data unit is used for acquiring control interface data, acquiring and sending a preset control signal set to corresponding equipment from the central control host; the platform operation unit is used for executing a preset control signal by corresponding equipment so as to control the motion platform to operate; and the display unit is used for acquiring and displaying the state feedback data of the corresponding equipment. Wherein, the control system of the motion platform equipment is arranged on the motion platform.

By utilizing the method, the monitoring control mode of the control system of the motion platform equipment, the multimedia virtual interaction equipment and the driving motor set is optimized through the controlled induction unit and the control data unit, so that the reliability of the whole system of the control system of the motion platform equipment, the servo control system and the multimedia virtual equipment and the interactive control operation of the whole system are effectively improved, the maintenance cost of the control system of the motion platform equipment is reduced, and the maintenance efficiency of the system and the equipment is improved;

in addition, the equipment triggering unit is connected with the control data unit, so that when the system processes the motion modes and multimedia modes corresponding to different virtual motion scenes, the system can perform the operation of the whole system for playing and motion control according to the equipment corresponding to specific scenes in different modes, such as audio file playing equipment and/or a motion control driving motor of a multi-degree-of-freedom motion platform, and the like, thereby increasing the applicability of the system;

and the induction pressing component and the display unit are arranged, so that the control system of the motion platform equipment can be controlled and monitored while the motion data of the equipment, such as the running state data of the driving motor set and/or the multimedia playing state data and the like, obtained through induction in real time, and the reliability of the motion platform equipment is enhanced.

Drawings

Fig. 1 is a flow chart illustrating the steps of the control method of the motion platform device according to the present invention.

Fig. 2 is a flowchart illustrating step S1 in fig. 1 in an embodiment.

Fig. 3 is a flowchart illustrating step S2 in fig. 1 in an embodiment.

Fig. 4 is a flowchart illustrating step S3 in fig. 1 in an embodiment.

Fig. 5 is a flowchart illustrating step S4 in fig. 1 in an embodiment.

Fig. 6 is a schematic diagram showing the connection of the control system modules of the motion platform apparatus according to the present invention.

Fig. 7 is a schematic diagram illustrating a connection of the controlled sensing unit 1 in fig. 1 according to an embodiment.

Fig. 8 is a schematic diagram illustrating the connection of components of the triggering unit 2 of the device of fig. 1 in an embodiment.

Fig. 9 is a schematic diagram illustrating the connection of components of the control data unit 3 in fig. 1 according to an embodiment.

Fig. 10 is a schematic diagram illustrating the connection of the components of the display unit 5 in fig. 1 according to an embodiment.

Fig. 11 is a schematic view showing the connection of parts of the multiple degree of freedom exercise apparatus.

Description of the element reference numerals

Controlled induction unit 1

2 device triggering unit

3 control data unit

4 platform operating unit

5 display unit

11 pressing induction assembly

12 controlled numeralization component

13 controlled processing assembly

14 control signal assembly

21 packet data assembly

22 device location assembly

23 device positioning assembly

24 correspond to equipment components

25 corresponding trigger assembly

31 interface processing assembly

32 central control interface assembly

33 central control data assembly

34 control the screen assembly

35 control transmission assembly

51 device data acquisition assembly

52 shows a transmission assembly

53 display conversion assembly

54 display assembly

10 motion platform

20 driving motor group

30 transmission shaft group

40 control system of motion platform equipment

Description of the method steps

FIGS. 1S 1-S5

FIGS. 2S 11-S14

FIGS. 3S 21-S25

FIGS. 4S 31-S35

FIGS. 5S 51-S54

Detailed Description

In the following, the terms "monitoring system" and "control system" are used interchangeably and are used herein to refer to a control system of a motion platform apparatus having the capability of monitoring, controlling and functional maintenance systems such as servo control systems or multiple degree of freedom motion platform monitoring control systems. The term "audio control" is used herein to refer to what is also referred to as a multimedia control, also referred to as a multimedia interactive or virtual interactive system, wherein the audio control employs signals one of which to coordinate the control system of the motion platform apparatus and/or the multiple degree of freedom motion device control system. The terms "drive motor," "servo motor," "drive motor set," and "servo motor set" may be used interchangeably and may refer to any of a variety of different servo drive devices and/or combinations including, but not limited to, dc servo motors (e.g., brushed dc servo motors, brushless dc servo motors, etc.), ac servo motors (e.g., synchronous ac servo motors, asynchronous ac servo motors, brushless ac servo motors, etc.), or types/configurations of other servo drive devices. In addition, the term "multiple degree of freedom motion platform" is used herein to refer to one and/or more multiple degree of freedom manned devices such as: rail cars, etc., which typically run within preset induction tracks, multi-degree-of-freedom motion platforms achieve spatial multi-degree-of-freedom motion in various orientations by providing servo drives inside them. It should be understood that the use of the same reference numbers throughout the several figures to refer to identical components or components of equivalent functionality will be apparent to those skilled in the art from the various modifications to the preferred embodiments, the general principles, and features described herein. Furthermore, the drawings are intended to be illustrative only of the scope of the invention and not limiting and should not be taken as being drawn to scale.

Embodiments of the present invention may be applied, for example, to systems employing servo motor sets that may also provide drive for other forms of motion states of a multiple degree of freedom motion platform, such as rotation at a preset yaw angle, simulated acoustic vibrations and/or combinations thereof, and the like, such as explosion simulated acoustic co-vibration, tidal surge simulated vibration, nacelle fault simulated effect, and the like. The multiple degree of freedom motion platform includes a passenger carrying platform, a center control box, and a multimedia interactive control system, examples of which include a track-walking rail vehicle, etc., and more particularly, but not exclusively, may be applied to a multiple degree of freedom motion platform using an ac or dc motor (e.g., a brushless ac servo motor). The multiple degree of freedom motion platform uses one or more synchronous or asynchronous ac brushless servo motors, such as dc brushless servo motors, to provide electrical power to the vehicle. The motor set is at least partially used for driving the motion platform with multiple degrees of freedom to move.

Please refer to fig. 1-11. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, distribution and size of the components in the actual implementation, the type, quantity and proportion of each component in the actual implementation can be changed at will, and the component layout and the operation control state thereof can be more complicated.

Referring to fig. 1, a schematic flow chart of a control method of a motion platform device according to the present invention is shown, as shown in fig. 1, the system includes:

s1, inductively acquiring sensory feedback data to generate platform device controlled signals, in this embodiment, a user may manipulate one or more handheld electronic devices or controllers operatively coupled to, for example, a central host pair to cause desired actions in a virtual entertainment environment, for example, a rail car and a drive device;

s2, acquiring equipment grouping data, and triggering equipment corresponding to the equipment grouping data by the platform equipment controlled signal;

s3, acquiring control interface data, so as to acquire and send a preset control signal set from the central control host to the corresponding device, in this embodiment, the input of the system may include, for example, the manipulation of the electronic device controlling the display of the dome screen, and/or the manipulation of the central control host itself, and/or the directional displacement of the track car motion trajectory, and/or the effect vibration, and/or the sound effect/display state of the virtual object;

s4, the corresponding device executes a preset control signal to control the motion platform to operate, in this embodiment, when the six-degree-of-freedom motion platform moves to a final state of each six-degree-of-freedom motion, the final state attitude data may trigger the dynamic model to act, and the six-degree-of-freedom motion platform interacts with the audio control system under the control of the servo control monitoring system; in this embodiment, the eye point (eyepoint) of a user, who in use is located on top of the load bearing structure (e.g. in a cabin, etc.), is adjusted within a six degree of freedom redundancy range with respect to a so-called motion platform center of Mass (MPC). Motion tagging, i.e., parasitic acceleration reduction (parasitic acceleration) by processing the vertical distance between the MPC and a spatial reference point, such as the cabin observation eyepoint, can be facilitated, and the motion state of the entire six-degree-of-freedom motion platform, and possibly the cabin or other structure on top of the load bearing structure, can be coordinated with multimedia feedback data.

And S5, acquiring and displaying the state feedback data of the corresponding equipment.

Referring to fig. 2, which is a detailed flowchart of step S1 in fig. 1 according to an embodiment, as shown in fig. 2, the step S1 of generating the device control signal includes:

s11, acquiring a touch combined signal by a pressure sensing device, wherein in this embodiment, the touch combined signal may be acquired by pressing a touch screen or by sensing a pressure sensor installed below a multi-channel switch button;

s12, digitizing the touch combined signal into sensing feedback data;

s13, analyzing the sensing feedback data to obtain control sequence information, wherein in the embodiment, the specific multimedia playing control data, the three-dimensional motion track of the six-degree-of-freedom motion platform and the platform deflection angle are completed by three-dimensional motion mode data pre-stored by a platform six-degree-of-freedom control system in the vehicle-mounted central control box, the six-degree-of-freedom motion platform can act along with multimedia special effects or interactive equipment, and in the embodiment, the vehicle-mounted controller receives an instruction sent by an upper level and acts in combination with the currently acquired servo state information and sensor return information;

and S14, processing the control sequence information to obtain a platform device control signal, wherein in the embodiment, the six-degree-of-freedom motion platform can acquire a real-time position according to acousto-optic changes of scenery along the way and a pressure sensor and/or a vibration sensor arranged along the way, and then can perform three-dimensional motion mode data corresponding to the position to control a servo motor and/or a plunger pump to drive a servo shaft and/or a hydraulic cylinder to complete rotation and/or six-degree-of-freedom motion.

Referring to fig. 3, which is a detailed flowchart illustrating step S2 in fig. 1 according to an embodiment, as shown in fig. 3, step S2 of triggering the pre-stage apparatus includes;

s21, analyzing the device grouping data to obtain trigger distribution information;

s22, obtaining device location list information from the central control host, in this embodiment, the control device information may be stored in a hard disk in the central control host or obtained from a background server through a control local area network;

s23, processing the trigger distribution information and the device location list information as device positioning information, in this embodiment, a DR (Direct Reality) six-degree-of-freedom motion platform can be driven by a servo motor to complete three rotational motions of lifting, traversing, panning, three linear motions and three rotational motions of yawing, pitching, and rolling;

s24, positioning the corresponding device according to the device positioning information, in this embodiment, the control signal of the corresponding device, such as the servo level signal, can be a PWM (Pulse Width Modulation) high-voltage braking driving signal, and all scene actions in a time granularity are driven by the servo driving device, such as an asynchronous or synchronous brushless servo motor, to perform the zeroing of the six-degree-of-freedom data and the homing operation of the servo axis set;

and S25, triggering the corresponding equipment by the platform equipment controlled signal, wherein in the embodiment, the main component of the corresponding equipment such as a six-degree-of-freedom motion platform is six servo electric cylinders, and the space attitude of the cabin is controlled by motion control software programmed according to an optimal washout filtering algorithm.

Referring to fig. 4, which is a detailed flowchart illustrating step S3 in fig. 1 according to an embodiment, as shown in fig. 4, the step S3 of generating motion control data includes:

s31, processing the control interface data to obtain interface list information and a vehicle-mounted control transmission link, in an embodiment, the vehicle-mounted control transmission link is control local area network protocol data, in an embodiment, data communication is performed with a vehicle-mounted PLC (programmable logic controller) through a network transmission switching device such as a management switch and a leaky wave cable by using, for example, Modbus/TCP, and the vehicle-mounted PLC performs data communication with a servo driver in a servo drive system through an EtherCAT (ethernet control automation technology) bus;

s32, generating data call information according to the interface list information, in the present embodiment, for signal input of signal characteristics of the servo controller, manipulation of input-output interfaces and/or enable switches on the servo controller, and physical movement of the controller and/or drive device itself, etc., to provide inputs to be implemented in the virtual entertainment environment;

s33, obtaining preset control data from the central control host, in this embodiment, the control unit, for example, the integrated microprocessor, controls the servo motor to drive the servo shaft to rotate by a preset angle, and may monitor the selected angle of the servo shaft by installing a redundant encoder on the servo shaft, and transmit the angle to the central control host;

s34, filtering the preset control data according to the data call information to obtain a preset control signal set, in this embodiment, the self-movement and/or movement of multiple controllers and servo drive actuators, such as servo shafts, especially the rotation of multiple servo controllers and/or servo motor shafts in the virtual reality environment, which provide sensor groups and/or central control host inputs through, for example, servo controllers and/or bus signal transmission interfaces and/or lines, can be resolved into a single coordinate system to determine the prospective for implementation relative to a specific virtual object;

and S35, transmitting a preset control signal set to corresponding equipment through the vehicle-mounted control transmission link, wherein in the embodiment, the rotating platform adds a redundant degree of freedom for the six-degree-of-freedom yawing motion. The rotation angle of the rotary platform can be adjusted according to the selected mode data, wherein the rotary mode data can comprise a deflection mode and/or a brake mode and/or a reciprocating rotary mode, and the like, when in special needs, the servo drive controller of the selected platform can integrate and/or expand the contact device interface circuit to connect with the central rotary contact device so as to expand the mode type of the rotary mode data, and in one embodiment, the Modbus/TCP communication protocol based on leaky wave technology can be adopted to carry out real-time communication with a vehicle-mounted controller such as a vehicle-mounted PLC, and the vehicle-mounted PLC carries out communication with a servo driver in a servo drive system through an EtherCAT bus.

Referring to fig. 5, which is a detailed flowchart illustrating step S5 in fig. 1 according to an embodiment, as shown in fig. 5, the step S5 of displaying the feedback data includes:

s51, collecting motion control data and multimedia control data of corresponding equipment;

s52, transmitting motion control data and multimedia control data to a display device according to the control interface data, wherein in one embodiment, a rail car and a driving device are arranged in the deep-sea odd-navigation DR multi-degree-of-freedom control system of the virtual entertainment device, and the rail car and the driving device can interact with virtual objects, elements, characteristics and the like in the virtual entertainment environment through various types of input;

s53, converting the motion control data and the multimedia control data into platform control display data, wherein in the embodiment, the three-dimensional motion data can comprise a header file, action curve function data and the like, in the embodiment, the three-dimensional motion data can comprise each servo motor trigger signal, a servo shaft group distribution trigger signal and the like, the six-freedom-degree motion platform is movably linked to a rotary platform, and the rotary platform adopts a large gear ring structure with a bearing and is used for adjusting the height of the six-freedom-degree motion platform;

s54, displaying platform control display data by a display device, in this embodiment, the six-degree-of-freedom control signal and the multimedia control signal correspond to motion scene mode information of different six-degree-of-freedom motion platforms, such as mode enumeration values, in a corresponding form, such as one-to-many and/or many-to-one and/or one-to-one, and in one embodiment, device status information received by the vehicle-mounted PLC control device may be uploaded to a control display device, such as a central control display screen or a touch screen, through a network connection under, for example, a Modbus/TCP protocol.

Referring to fig. 6, a schematic diagram of a connection of control system modules of a motion platform device according to the present invention is shown, as shown in fig. 6, a control system of a motion platform device includes a controlled sensing unit 1, a device triggering unit 2, a control data unit 3, a platform operating unit 4, and a display unit 5, where the controlled sensing unit 1 is configured to sense and acquire sensing feedback data to generate a platform device controlled signal, in this embodiment, a user may manipulate one or more handheld electronic devices or controllers operatively coupled to, for example, a central control host to pair, so as to cause a desired motion of, for example, a rail car and a driving device in a virtual entertainment environment; the equipment triggering unit 2 is used for acquiring equipment grouped data and triggering corresponding equipment of the equipment grouped data by a platform equipment controlled signal, and the equipment triggering unit 2 is connected with the controlled induction unit 1; the control data unit 3 is configured to obtain control interface data, so as to obtain and send a preset control signal set from the central control host to the corresponding device, and the control data unit 3 is connected to the device triggering unit 2, in this embodiment, the input of the system may include, for example, manipulation of the electronic device for controlling display of the dome screen and/or manipulation of the central control host itself and/or directional displacement of a track car motion trajectory and/or effect vibration and/or a sound effect/display state of a virtual object; the platform operation unit 4 is used for executing a preset control signal by corresponding equipment to control the motion platform to operate, the platform operation unit 4 is connected with the control data unit 3, in the embodiment, when the six-degree-of-freedom motion platform moves to a final state of each six-degree-of-freedom motion, the final state attitude data can trigger a dynamic model action, and the six-degree-of-freedom motion platform interacts with the audio control system under the control of the servo control monitoring system; and the display unit 5 is used for acquiring and displaying the state feedback data of the corresponding equipment, and the display unit 5 is connected with the platform operation unit 4.

Referring to fig. 7, which is a schematic diagram illustrating component connections of the controlled sensing unit 1 in fig. 1 in an embodiment, as shown in fig. 7, the controlled sensing unit 1 includes a press sensing component 11, a controlled digitizing component 12, a controlled processing component 13, and a control signal component 14, where the press sensing component 11 is used to obtain a touch combined signal by using a pressure sensing device, and in this embodiment, the touch combined signal can be obtained by pressing a sensing touch screen or a pressure sensor installed below a multi-way switch button; the controlled digitization component 12 is used for digitizing the touch combined signal into sensing feedback data, the controlled digitization component 12 is connected with the press sensing component 11, the controlled processing component 13 is used for analyzing the sensing feedback data to obtain control sequence information, the controlled processing component 13 is connected with the controlled digitization component 12, in one embodiment, the vehicle-mounted controller receives an instruction sent by an upper level and performs action by combining currently obtained servo state information and sensor return information, in the embodiment, specific multimedia playing control data, a three-dimensional motion track of the six-degree-of-freedom motion platform and a platform deflection angle are completed by three-dimensional motion mode data stored in advance by a platform six-degree-of-freedom control system in a vehicle-mounted central control box, and the six-degree-of-freedom motion platform can perform action along with multimedia special effects or interactive equipment; the control signal component 14 is used for processing the control sequence information to obtain a platform device control signal, and the control signal component 14 is connected with the control processing component 13, in this embodiment, after the six-degree-of-freedom motion platform can obtain a real-time position according to acousto-optic changes of scenery along the way and according to a pressure sensor and/or a vibration sensor arranged along the way, three-dimensional motion mode data corresponding to the position can be carried out to control a servo motor and/or a plunger pump to drive a servo shaft and/or a hydraulic cylinder to complete rotation and/or six-degree-of-freedom motion.

Referring to fig. 8, which is a component connection diagram of the device triggering unit 2 in fig. 1 in an embodiment, as shown in fig. 8, the device triggering unit 2 includes a grouping data component 21, a device location component 22, a device positioning component 23, a corresponding device component 24, and a corresponding triggering component 25; a packet data component 21 for analyzing the device packet data to obtain trigger distribution information; the device location component 22 is configured to obtain device location list information from the central control host, in this embodiment, the control device information may be stored in a hard disk in the central control host or obtained from a background server through a control local area network; the device positioning component 23 is configured to process the trigger distribution information and the device position list information into device positioning information, the device positioning component 23 is connected to the grouping data component 21, the device positioning component 23 is connected to the device position component 22, the corresponding device component 24 is configured to position a corresponding device according to the device positioning information, and the corresponding device component 24 is connected to the device positioning component 23, in this embodiment, a control signal of the corresponding device, for example, a servo level signal, may be a PWM (Pulse Width Modulation) high-voltage braking driving signal, all scene actions in a time granularity are driven by a servo driving device, for example, an asynchronous or synchronous brushless servo motor, and perform data zeroing with six degrees of freedom and homing operations of a servo axis group; and the corresponding triggering component 25 is used for triggering the corresponding equipment by the platform equipment controlled signal, and the corresponding triggering component 25 is connected with the corresponding equipment component 24.

Referring to fig. 9, which is a schematic diagram illustrating component connections of the control data unit 3 in fig. 1 in an embodiment, as shown in fig. 9, the control data unit 3 includes an interface processing component 31, a central control interface component 32, a central control data component 33, a control screening component 34, and a control transmission component 35; an interface processing component 31, configured to process Control interface data to obtain interface list information and a vehicle-mounted Control transmission link, in an embodiment, the central Control system may perform data communication with a vehicle-mounted PLC (programmable Logic controller) through a network transmission switching device, such as a management switch and a leaky wave cable, for example, by using a Modbus/TCP, and the vehicle-mounted PLC performs data communication with a servo driver in a servo drive system through an EtherCAT (ethernet Control Automation Technology) bus, in an embodiment, the vehicle-mounted Control transmission link performs data communication with a Control local area network protocol; a central control interface component 32 for generating data call information according to the interface list information, the central control interface component 32 being connected to the interface processing component 31, in this embodiment, for signal input of signal characteristics of the servo controller, manipulation of input/output interfaces and/or enable switches on the servo controller, and physical movement of the controller and/or drive device itself, etc., to provide input to be implemented in the virtual entertainment environment; the central control data component 33 is used for acquiring preset control data from the central control host, in this embodiment, the control unit, such as an integrated microprocessor, controls the servo motor to drive the servo shaft to rotate by a preset angle, and can monitor the selected angle of the servo shaft by installing a redundant encoder on the servo shaft and transmit the angle to the central control host; a control filter component 34 for filtering preset control data according to the data call information to obtain a preset control signal set, the control filter component 34 being connected to the central control interface component 32, the control filter component 34 being connected to the central control data component 33, in this embodiment, the self-movement and/or movement of multiple controllers and servo drive actuators, such as servo shafts, especially the rotation of multiple servo controllers and/or servo motor shafts in a virtual reality environment, which provide sensor groups and/or central control host inputs through, for example, servo controllers and/or bus signal transmission interfaces and/or lines, can be resolved into a single coordinate system to determine an anticipator for implementation relative to a specific virtual object; the control transmission component 35 is configured to transmit a preset control signal set to a corresponding device through a vehicle-mounted control transmission link, and the control transmission component 35 is connected to the control screening component 34, in an embodiment, a Modbus/TCP communication protocol based on a leaky wave technology may be adopted to perform real-time communication with a vehicle-mounted controller, such as a vehicle-mounted PLC, and the vehicle-mounted PLC performs communication with a servo driver in a servo driving system through an EtherCAT bus, in this embodiment, the rotating platform adds one redundant degree of freedom for a six-degree-of-freedom yawing motion. The rotation angle of the rotary platform can be adjusted according to the selection mode data, wherein the rotation mode data can comprise a deflection mode and/or a brake mode and/or a reciprocating rotation mode and the like, and when special needs exist, the servo drive controller of the selection platform can integrate and/or expand the contact device interface circuit to be connected with the central rotary contact device so as to expand the mode type of the rotation mode data.

Referring to fig. 10, which is a schematic diagram illustrating component connections of the display unit 5 in fig. 1 in an embodiment, as shown in fig. 10, the display unit 5 includes a device data collecting component 51, a display transmission component 52, a display conversion component 53 and a display component 54, the device data collecting component 51 is used for collecting motion control data and multimedia control data of a corresponding device; a display transmission component 52 for transmitting motion control data and multimedia control data to a display device according to control interface data, the display transmission component 52 is connected with a device data acquisition component 51, a display conversion component 53 for converting the motion control data and the multimedia control data into platform control display data, the display conversion component 53 is connected with the display transmission component 52, a display component 54 for displaying the platform control display data with the display device, the display component 54 is connected with the display conversion component 53, in one embodiment, device status information received by a vehicle-mounted PLC control device can be uploaded to a control display device such as a central control display screen or a touch screen through network connection under, for example, a Modbus/TCP protocol, in the present embodiment, a six-degree-of-freedom control signal and a multimedia control signal and motion scene mode information of different six-degree-of-freedom motion platforms such as mode enumeration value, for example, one-to-many and/or many-to-one and/or many-to- An equal-degree correspondence form is intended to correspond.

Referring to fig. 11, which is a schematic view illustrating the connection of components of a multi-degree-of-freedom exercise apparatus, as shown in fig. 11, a multi-degree-of-freedom exercise apparatus includes: a motion platform 10; the driving motor set 20 is arranged in the motion platform; the transmission shaft group 30 is connected with the driving motor group; a control system 40 for a motion platform apparatus, comprising: the controlled sensing unit is used for sensing and acquiring sensing feedback data so as to generate a platform equipment controlled signal; the equipment triggering unit is used for acquiring equipment grouped data and triggering equipment corresponding to the equipment grouped data by a platform equipment controlled signal; the control data unit is used for acquiring control interface data, acquiring and sending a preset control signal set to corresponding equipment from the central control host; the platform operation unit is used for executing a preset control signal by corresponding equipment so as to control the motion platform to operate; the display unit is used for acquiring and displaying state feedback data of the corresponding equipment; wherein the control system 40 of the motion platform apparatus is mounted to the motion platform 10.

For example, the control system of the motion platform device for deep sea odd navigation DR (Dark Ride) of the present invention applies the six-degree-of-freedom motion mode and the multimedia virtual scene mode to the six-degree-of-freedom motion platform control, the three-dimensional motion state control of the multimedia control, and the audio/video scene playing control. The control system of the motion platform device effectively maintains the applicability and the interactivity of a servo control system, a multi-degree-of-freedom control system and a multimedia control system of a deep-sea odd-navigation DR (Dark Ride) motion platform device, and particularly, the control system of the motion platform device can be applied to the operation of an overall system comprising a virtual scene multimedia control system, the servo control system and the multi-degree-of-freedom (for example, six-degree-of-freedom) motion platform control system, and the control method and the system of the motion platform device can be applied to special video and audio or game scenes (for example, deep-sea odd navigation).

The control system of the motion platform equipment can directly report the instant three-dimensional motion state of one or more multi-degree-of-freedom motion platforms to the multi-degree-of-freedom central control host, and simultaneously obtains motion sensing data through the integrated multi-dimensional sensor group so as to interact and cooperate with the multimedia control system.

It should be noted that the method and system of the present invention can also be applied to other multi-degree-of-freedom sports equipment, and are not limited to six-degree-of-freedom and multimedia types such as audio and video.

In some embodiments, one or more input devices other than a computing device (e.g., a multi-dimensional sensor group, a servo central control host, and an audio control system) may be presented in a 3D environment in computer-generated multiple degree of freedom motion trajectory data and/or motion vector signals of a motion platform. The rendered input devices (e.g., multi-dimensional sensor sets, servo central control hosts, and audio control systems) may be used to render multimedia objects in a deep sea simulation environment by processing and/or converting multi-degree of freedom motion trajectory data and/or motion vector signals. Computing devices are intended to represent various forms of digital computers and devices, including, but not limited to, laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Computing devices are intended to represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed in this document. A number of embodiments have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the description. In addition, the logic flows depicted in the figures do not require the particular order shown, or sequential order, to achieve desirable results. In addition, other steps may be provided, or steps may be eliminated, from the described flows, and other components may be added to, or removed from, the described systems. Accordingly, other embodiments are within the scope of the following claims. While certain features of the described embodiments have been illustrated as described herein, those skilled in the art will appreciate. Many modifications, substitutions, changes, and equivalents will now occur. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the scope of the embodiments. It is to be understood that they have been presented by way of example only, and not limitation, and various changes in form and details may be made. In addition to mutually exclusive combinations, any portion of the apparatus and/or methods described herein may be combined in any combination. The embodiments described herein may include various combinations and/or subcombinations of the functions, components and/or features of the different embodiments described.

Claims (9)

1. A method of controlling a motion platform device, comprising:

sensing and acquiring sensing feedback data so as to generate a platform equipment controlled signal;

acquiring equipment grouped data, and triggering a servo controller corresponding to the equipment grouped data by the platform equipment controlled signal;

acquiring control interface data, and acquiring and sending a preset control signal set to a corresponding servo controller from a central control host;

the corresponding servo controller executes the preset control signal to control the motion platform to operate;

acquiring and displaying state feedback data of a corresponding servo controller;

the step of generating a platform device controlled signal comprises:

acquiring a touch control combined signal by using a pressure sensing device;

digitizing the touch combined signal into sensing feedback data;

analyzing the sensing feedback data to obtain control sequence information;

and processing the control sequence information to obtain the platform equipment control signal.

2. The method of claim 1, wherein: the step of triggering a servo controller corresponding to the device packet data includes;

analyzing the device grouping data to obtain trigger distribution information;

acquiring equipment position list information from a master control host;

processing the trigger distribution information and the equipment position list information into equipment positioning information;

positioning according to the equipment positioning information to obtain a corresponding servo controller;

and triggering the corresponding servo controller by the platform equipment controlled signal.

3. The method of claim 1, wherein: the step of acquiring and sending the preset control signal set from the slave control host to the corresponding servo controller comprises the following steps:

processing the control interface data to obtain interface list information and a vehicle-mounted control transmission link;

generating data calling information according to the interface list information;

acquiring preset control data from the central control host;

screening the preset control data according to the data calling information to obtain the preset control signal set;

and transmitting the preset control signal set to a corresponding servo controller through the vehicle-mounted control transmission link.

4. The method of claim 1, wherein: the step of acquiring and displaying the state feedback data of the corresponding servo controller includes:

collecting motion control data and multimedia control data of corresponding servo controllers;

transmitting the motion control data and multimedia control data to a display device according to the control interface data;

converting the motion control data and the multimedia control data into display sub-item data;

displaying the platform control display data with the display device.

5. A control system for a motion platform apparatus, comprising:

the controlled sensing unit is used for sensing and acquiring sensing feedback data so as to generate a platform equipment controlled signal;

the equipment triggering unit is used for acquiring equipment grouped data and triggering the servo controller corresponding to the equipment grouped data by the platform equipment controlled signal;

the control data unit is used for acquiring control interface data, acquiring and sending a preset control signal set to a corresponding servo controller from the central control host;

the platform operation unit is used for executing the preset control signal by a corresponding servo controller so as to control the motion platform to operate;

the display unit is used for acquiring and displaying the state feedback data of the corresponding servo controller;

the controlled sensing unit comprises:

the pressing sensing assembly is used for acquiring a touch combined signal by using the pressure sensing device;

the controlled numeralization component is used for numerating the touch combined signal as sensing feedback data;

the controlled processing component is used for analyzing the sensing feedback data to obtain control sequence information;

and the control signal component is used for processing the control sequence information to obtain the platform equipment control signal.

6. The system of claim 5, wherein: the equipment triggering unit comprises;

a packet data component to analyze the device packet data to obtain trigger distribution information;

the equipment position component is used for acquiring equipment position list information from the central control host;

the equipment positioning component is used for processing the trigger distribution information and the equipment position list information into equipment positioning information;

the corresponding equipment assembly is used for positioning the corresponding servo controller according to the equipment positioning information;

and the corresponding trigger component is used for triggering the corresponding servo controller by the platform equipment controlled signal.

7. The system of claim 5, wherein: the control data unit includes:

the interface processing component is used for processing the control interface data to obtain interface list information and a vehicle-mounted control transmission link;

the central control interface component is used for generating data calling information according to the interface list information;

the central control data assembly is used for acquiring preset control data from the central control host;

the control screening component is used for screening the preset control data according to the data calling information to obtain the preset control signal set;

and the control transmission assembly is used for transmitting the preset control signal set to the corresponding servo controller through the vehicle-mounted control transmission link.

8. The system of claim 5, wherein: the display unit includes:

the equipment data acquisition assembly is used for acquiring the motion control data and the multimedia control data of the corresponding servo controller;

the display transmission component is used for transmitting the motion control data and the multimedia control data to display equipment according to the control interface data;

a display conversion component for converting the motion control data and the multimedia control data into platform control display data;

and the display component is used for displaying the platform control display data by the display equipment.

9. The system of claim 5, wherein the control system of the motion platform apparatus further comprises a multiple degree of freedom motion device comprising:

a motion platform;

the driving motor set is arranged in the motion platform;

the transmission shaft group is connected with the driving motor group;

a control system for a motion platform device, comprising:

the controlled sensing unit is used for sensing and acquiring sensing feedback data so as to generate a platform equipment controlled signal;

the equipment triggering unit is used for acquiring equipment grouped data and triggering the servo controller corresponding to the equipment grouped data by the platform equipment controlled signal;

the control data unit is used for acquiring control interface data, acquiring and sending a preset control signal set to a corresponding servo controller from the central control host;

the platform operation unit is used for executing the preset control signal by a corresponding servo controller so as to control the motion platform to operate;

the display unit is used for acquiring and displaying the state feedback data of the corresponding servo controller;

wherein the control system of the motion platform device is mounted to the motion platform.

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