System and a method for realizing realness of forklift simulation driving

Abstract

The invention provides a system and a method for realizing realness of a forklift simulation driving. The system comprises a hardware platform and a software module. The method comprises the followingsteps that firstly, through forklift kinematics analysis on a forklift under the typical driving condition, creating a motion equation at the actual forklift mass center to acquire main motion parameters; secondly, converting motion parameters at the mass center of the fork vehicle to a driver seat through coordinate conversion; converting the motion parameters into motion parameters sensed by ahuman body through a human body sensing model; then, converting the three-dimensional posture signal into a space posture signal of a simulated driving movable platform through a somatosensory simulation algorithm; then, according to the three-dimensional structure and the motion relation model of the platform, acquiring the elongation and the change equation of each linear driving rod; and finally, performing joint coupling control on the motions of the three linear driving rods to realize simulation motion of the platform. According to the invention, the motion feel of the forklift in the driving operation can be simulated in the limited stroke of the movable platform, and a vivid driving environment is created for a 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 movement and dynamic fidelity during 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 caused by improper operation of forklift drivers often occur. 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 many people wa...

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) The training efficiency and resource utilization are low, and 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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