A system and method for realizing real somatosensory driving of forklift simulation

Abstract

The invention provides a system and method for realizing real somatosensory driving of a forklift simulation, including a hardware platform and a software module. It includes the following steps: firstly, by analyzing the kinematics of the forklift under typical driving conditions, the motion equation at the center of mass of the actual forklift is established, and the main motion parameters are obtained; secondly, the motion parameters at the center of mass of the forklift are transformed into driving Then, through the human body perception model, it is converted into the motion parameters felt by the human body; after that, it is converted into the space pose signal of the simulated driving platform through the somatosensory simulation algorithm; and then, according to the three-dimensional structure of the platform The elongation of each linear drive rod and its change equation are obtained through the model of the relationship with the motion; finally, the joint coupling control of the motion of the three linear drive rods is used to realize the simulated motion of the platform. The invention can simulate the motion feeling in the driving operation of the forklift within the limited stroke of the moving platform, and creates a realistic driving environment for the driver.

Description

technical field [0001] The invention relates to a system and method for realizing real somatosensory perception of simulated driving of a forklift, which belongs to the technical field of driving simulation and simulation, and is mainly applied to the simulation of real motion and dynamic fidelity in the process of simulated driving of a forklift. Background technique [0002] Forklifts belong to the special vehicles in the field (factory) in my country's special equipment, and are widely used in the handling and transmission of goods in all walks of life. However, forklifts are dangerous vehicles, and forklift safety accidents frequently occur due to improper operation of forklift drivers. However, at present, my country's forklift training institutions still use the traditional way of masters leading apprentices for training. This training method has the following disadvantages: (1) Training efficiency and resource utilization are low, and often one person operates and man...

AI Technical Summary

Problems solved by technology

However, forklifts are dangerous vehicles, and forklift safety accidents frequently occur due to improper operation of forklift drivers.

However, at present, my country's forklift training institutions still use the traditional way of masters leading apprentices for training. This training method has the following disadvantages: (1) Training efficiency and resource utilization are low, often one person operates and many people wait

(2) There are serious safety hazards in the first real vehicle operation of zero-based students

(3) Training is affected by factors such as time, venue, and weather, and is greatly restricted

(4) The cost of actual vehicle training is high, including forklift usage fees, safety protection fees, site usage fees, personnel fees, etc.

(5) The standardization of training is insufficient, and the teaching level and training standards of coaches are not uniform enough

However, the simulated overload dynamic seat can only realize the simulation of the two degrees of freedom of up and down vibration and front and rear translation, and cannot realize the simulation of pitch, roll and other rotations, which is somewhat different from the driver's motion feeling in the real driving process.

The 4D somatosensory seat drives the seat through the crank mechanism to realize dynamic simulation, but the system stability of the crank mechanism is poor and can only realize movement and rotation simulation in a single plane, and cannot realize dynamic simulation in a spatial range, so the fidelity of the dynamic model is not high. high

For example: Patent Application No. 201710015660.0 discloses a six-degree-of-freedom parallel motion platform flight simulator and flight simulation method, which uses six identical hydraulic servo cylinders to drive a servo platform (cockpit). Driven by the hydraulic cylinders, the platform can Complete the movement in the direction of six degrees of freedom, and realize the dynamic flight driving simulation of the three-dimensional scene through the precise position closed-loop control of the hydraulic cylinder. This method is mainly designed for the aviation field. Due to its characteristics of nonlinearity, strong coupling and variable parameters, the cost is high , and the structure and control are complex, which does not meet the requirements of forklift driving simulation function; System, multimedia computer and sound system, instructor console, etc. The software system includes computer real-time animation generation of the working environment, forklift driving dynamic simulation, sound simulation, operation evaluation, data management, network control and operation platform and other modules. The training simulation The control platform of the controller is fixed, so it is impossible to simulate the driver's motion feeling during driving, and the dynamic fidelity is not enough

[0007] In short, the existing somatosensory implementation methods are mostly used in racing games in entertainment facilities, 4D dynamic theater seats, and high-speed, high-pressure, high-load, and time-consuming flight simulations. There is no somatosensory implementation method that is completely suitable for forklift driving simulation. , the existing forklift operation training simulator has completed the simulation of the cab, the simulation of the control system, the simulation of the sound system and the simulation of the surrounding environment, but it lacks the simulation of the driver's motion feeling during driving, and the dynamic fidelity is insufficient. , unable to bring an immersive driving feeling to the driver

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