A platform tilt data simulation method for a lifting platform simulation operating system

Abstract

A platform tilt data simulation method for a lifting platform simulation operation system, the method first calculates the lifting displacement of four leg ring beams of the lifting platform in the lifting platform simulation operation system in real time, and judges whether the lifting platform is tilted based on the lifting displacement of the four leg ring beams, if so, the tilt direction of the lifting platform is calculated according to the leg ring beams at the highest and lowest positions, and then the tilt angle of the lifting platform is calculated in real time in combination with the displacement values ​​of the four leg ring beams. The present invention makes the platform tilt change process and the leveling process in the platform simulation operation process basically consistent with the actual platform operation process, thereby achieving the purpose of simulation operation training.

Description

Technical Field

[0001] The invention belongs to the field of operation simulation of a ship and marine engineering lifting system, and in particular relates to a platform tilt data simulation method of a hydraulic latch type lifting platform simulation operation system. Background Art

[0002] As a key equipment for offshore operations, the lifting platform has a huge value per unit and is extremely complex to operate. Once an operation error occurs, it will cause irreparable catastrophic losses. In order to enable crew members to quickly and efficiently master the lifting platform operation skills, the virtual lifting platform operating system can be used to simulate the lifting operation training, thereby greatly reducing the risk. In the virtual lifting platform operating system, how to simulate the tilting condition of the platform and make the simulated platform tilt data consistent with the actual product is a key technology that the lifting platform simulation operating system can achieve.

[0003] Regarding how to realistically simulate the platform tilt motion data to ensure that the platform tilt change process and leveling process during the platform simulation operation are basically consistent with the actual platform operation process, there are at least the following problems:

[0004] 1. During the operation of the actual lifting platform, the complex platform tilt data is collected and obtained through the platform tilt sensors in the X and Y axis directions. In the lifting platform simulation operating system, it is necessary to simulate and reproduce the platform tilt process during the lifting platform operation, and calculate the simulated platform tilt data in real time. Incorrect simulation of the platform tilt data will cause the platform tilt change process and leveling process during the virtual operation of the lifting platform to be inconsistent with the actual operation, and the purpose of simulation training for the crew cannot be achieved.

[0005] 2. The tilting process of a physical lifting platform is naturally caused by the weight of the platform itself and the displacement changes of the pile legs, which is caused by the physical properties of the equipment itself. However, in the simulated lifting platform operating system, the platform tilting data can only be theoretically calculated through the position of the pile legs, which is completely different from the principle of the tilting process of a physical lifting platform. How to realistically simulate the tilting process of a lifting platform is a technical problem that needs to be solved urgently. Summary of the invention

[0006] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to provide a platform tilt data simulation method for a lifting platform simulation operating system that can make the platform tilt change process and leveling process during platform simulation operation basically consistent with the actual platform operation process.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows:

[0008] A method for simulating platform tilt data of a lifting platform simulation operating system comprises the following steps in sequence:

[0009] Step 1: Calculate the lifting displacement of the four leg ring beams of the lifting platform in the lifting platform simulation operating system in real time, and judge whether the lifting platform is tilted based on the lifting displacement of the four leg ring beams. If so, proceed to step 2;

[0010] Step 2: First calculate the inclination direction of the lifting platform based on the pile leg ring beams at the highest and lowest positions, and then calculate the inclination angle of the lifting platform in real time based on the displacement values ​​of the four pile leg ring beams.

[0011] The step 2 specifically includes:

[0012] If the No. 1 leg ring beam is at the lowest position and the No. 3 leg ring beam is at the highest position, the inclination of the lifting platform can be regarded as the line connecting the No. 1 leg ring beam and the No. 3 leg ring beam. The inclination position is achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y axis and counterclockwise by a certain angle angleX along the X axis. The inclination angle of the lifting platform is calculated using the following formula:

[0013]

[0014]

[0015] In the above formula, L31 is the height difference between the No. 3 leg ring beam and the No. 1 leg ring beam in the Z axis, i.e., perpendicular to the lifting platform deck direction; L14 and L23 are the coordinate differences between the No. 1 leg ring beam and the No. 2 leg ring beam, and the No. 2 leg ring beam and the No. 3 leg ring beam in the X axis, i.e., parallel to the length direction of the lifting platform deck; L12 and L34 are the coordinate differences between the No. 1 leg ring beam and the No. 2 leg ring beam, and the No. 3 leg ring beam and the No. 4 leg ring beam in the Y axis, i.e., parallel to the width direction of the lifting platform deck;

[0016] If the No. 1 pile leg ring beam is at the lowest position and the No. 2 pile leg ring beam is at the highest position, the lifting platform has a tendency to tilt from the No. 2 pile leg ring beam position to the No. 1 pile leg ring beam position and from the No. 2 pile leg ring beam position to the No. 4 pile leg ring beam position. The tilting position is achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y axis and counterclockwise by a certain angle angleX along the X axis, that is, the tilt angle of the lifting platform is calculated using the following formula:

[0017]

[0018]

[0019] In the above formula, L41 and L21 are the height differences between the No. 4 leg ring beam and the No. 1 leg ring beam, and between the No. 2 leg ring beam and the No. 1 leg ring beam in the Z-axis direction respectively;

[0020] If the No. 1 pile leg ring beam is at the lowest position and the No. 4 pile leg ring beam is at the highest position, the lifting platform has a tendency to tilt from the No. 4 pile leg ring beam position to the No. 1 pile leg ring beam position and from the No. 4 pile leg ring beam position to the No. 2 pile leg ring beam position. The tilting position is achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y axis and counterclockwise by a certain angle angleX along the X axis, that is, the tilt angle of the lifting platform is calculated using the following formula:

[0021]

[0022]

[0023] In step 1, the method for determining whether the lifting platform is tilted is:

[0024] First, the maximum displacement value and the minimum displacement value are determined by comparing the lifting displacement values ​​of the four pile leg ring beams, and then the maximum displacement value and the minimum displacement value are compared to see whether they are equal. If they are not equal, it is determined that the lifting platform is tilted.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The platform tilt data simulation method of a lifting platform simulation operation system of the present invention first calculates the lifting displacement of the four leg ring beams of the lifting platform in the lifting platform simulation operation system in real time, and judges whether the lifting platform is tilted based on the lifting displacement of the four leg ring beams. If so, the tilt direction of the lifting platform is deduced according to the leg ring beams at the highest and lowest positions, and then the tilt angle of the lifting platform is calculated in real time in combination with the displacement values ​​of the four leg ring beams. In this method, the tilt angle of the lifting platform can be deduced based on the lifting displacement of the four leg ring beams of the lifting platform, so that the tilt law of the lifting platform in the model is basically consistent with the tilt law of the actual physical platform, thereby achieving the purpose of simulation operation training. Therefore, the present invention makes the platform tilt change process and leveling process in the platform simulation operation process basically consistent with the physical platform operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the platform inclination trend and angle calculation when the No. 1 pile leg ring beam is at the lowest position and the No. 3 pile leg ring beam is at the highest position in Example 1.

[0028] Figure 2 This is a schematic diagram of the platform inclination trend and angle calculation when the No. 1 pile leg ring beam is at the lowest position and the No. 2 pile leg ring beam is at the highest position in Example 1.

[0029] Figure 3 This is a schematic diagram of the platform inclination trend and angle calculation when the No. 1 pile leg ring beam is at the lowest position and the No. 4 pile leg ring beam is at the highest position in Example 1.

[0030] Figure 4 This is a structural principle diagram of the lifting platform simulation operating system adopted by the present invention.

[0031] In the figure, there are a fully physical lifting control console 1, a control panel 11, a mechanical input component 111, a mechanical alarm output component 112, a PLC controller 12, an action instruction generation module 121, an early warning module 122, a lifting platform three-dimensional virtual model 2, a lifting platform three-dimensional model 21, an action execution module 22, and a lifting platform state feedback module 23. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] A method for simulating platform tilt data of a lifting platform simulation operating system comprises the following steps in sequence:

[0034] Step 1: Calculate the lifting displacement of the four leg ring beams of the lifting platform in the lifting platform simulation operating system in real time, and judge whether the lifting platform is tilted based on the lifting displacement of the four leg ring beams. If so, proceed to step 2;

[0035] Step 2: First calculate the inclination direction of the lifting platform based on the pile leg ring beams at the highest and lowest positions, and then calculate the inclination angle of the lifting platform in real time based on the displacement values ​​of the four pile leg ring beams.

[0036] The step 2 specifically includes:

[0037] If the No. 1 leg ring beam is at the lowest position and the No. 3 leg ring beam is at the highest position, the inclination of the lifting platform can be regarded as the line connecting the No. 1 leg ring beam and the No. 3 leg ring beam. The inclination position is achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y axis and counterclockwise by a certain angle angleX along the X axis. The inclination angle of the lifting platform is calculated using the following formula:

[0038]

[0039]

[0040] In the above formula, L31 is the height difference between the No. 3 leg ring beam and the No. 1 leg ring beam in the Z axis, i.e., perpendicular to the lifting platform deck direction; L14 and L23 are the coordinate differences between the No. 1 leg ring beam and the No. 2 leg ring beam, and the No. 2 leg ring beam and the No. 3 leg ring beam in the X axis, i.e., parallel to the length direction of the lifting platform deck; L12 and L34 are the coordinate differences between the No. 1 leg ring beam and the No. 2 leg ring beam, and the No. 3 leg ring beam and the No. 4 leg ring beam in the Y axis, i.e., parallel to the width direction of the lifting platform deck;

[0041] If the No. 1 pile leg ring beam is at the lowest position and the No. 2 pile leg ring beam is at the highest position, the lifting platform has a tendency to tilt from the No. 2 pile leg ring beam position to the No. 1 pile leg ring beam position and from the No. 2 pile leg ring beam position to the No. 4 pile leg ring beam position. The tilting position is achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y axis and counterclockwise by a certain angle angleX along the X axis, that is, the tilt angle of the lifting platform is calculated using the following formula:

[0042]

[0043]

[0044] In the above formula, L41 and L21 are the height differences between the No. 4 leg ring beam and the No. 1 leg ring beam, and between the No. 2 leg ring beam and the No. 1 leg ring beam in the Z-axis direction respectively;

[0045] If the No. 1 pile leg ring beam is at the lowest position and the No. 4 pile leg ring beam is at the highest position, the lifting platform has a tendency to tilt from the No. 4 pile leg ring beam position to the No. 1 pile leg ring beam position and from the No. 4 pile leg ring beam position to the No. 2 pile leg ring beam position. The tilting position is achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y axis and counterclockwise by a certain angle angleX along the X axis, that is, the tilt angle of the lifting platform is calculated using the following formula:

[0046]

[0047]

[0048] In step 1, the method for determining whether the lifting platform is tilted is:

[0049] First, the maximum displacement value and the minimum displacement value are determined by comparing the lifting displacement values ​​of the four pile leg ring beams, and then the maximum displacement value and the minimum displacement value are compared to see whether they are equal. If they are not equal, it is determined that the lifting platform is tilted.

[0050] The principle of the present invention is described as follows:

[0051] See also Figure 4 The lifting platform simulation operating system used in the present invention can adopt the following structure:

[0052] The system includes a full-physical lifting control console 1 and a three-dimensional virtual model of a lifting platform 2. The full-physical lifting control console 1 includes a control panel 11 and a PLC controller 12. The control panel 11 includes a mechanical input component 111, which can be a handle, a button, a knob, a switch, etc. The PLC controller 12 includes an action instruction generation module 121. The three-dimensional virtual model of the lifting platform 2 includes a three-dimensional model of the lifting platform 21 obtained based on unity3D modeling, an action execution module 22, and a multimedia display module 24. The signal input end of the action instruction generation module 121 is connected to the signal output end of the mechanical input component 111, and the signal output end of the action instruction generation module 121 is connected to the three-dimensional model of the lifting platform 21 through the action execution module 22. The action instruction generation module 121 is used to generate an action instruction of the lifting platform according to the control instruction input by the mechanical input component 111, and send it to the action execution module 22. The action execution module 22 is used to drive the three-dimensional model of the lifting platform 21 to perform corresponding actions according to the action instruction of the lifting platform. The modeling method of the three-dimensional model of the lifting platform 21 includes:

[0053] Create a 3DMAX model of the lifting platform and import it into Unity, correct the 3D model material mapping, adjust the size ratio, and produce the seawater environment, underwater effect environment and sky environment.

[0054] In this system, the control panel 11 may also include a mechanical alarm output component 112, which may be an indicator light and / or a buzzer. The PLC controller 12 also includes an early warning module 122. The three-dimensional virtual model 2 of the lifting platform also includes a lifting platform state feedback module 23. The signal input end of the lifting platform state feedback module 23 is connected to the signal output end of the lifting platform three-dimensional model 21. The signal output end of the lifting platform state feedback module 23 is connected to the mechanical alarm output component 112 through the early warning module 122. The lifting platform state feedback module 23 is used to send the state simulation data of the lifting platform to the early warning module 122 in real time during the execution of the action. The early warning module 122 is used to control the mechanical alarm output component 112 to issue an early warning when the state simulation data of the lifting platform exceeds the normal range.

[0055] In the present invention, the rotation direction and angle direction of the lifting platform along the X and Y axes are set as follows:

[0056] The positive direction of the rotation axis is from the inside of the screen to the outside of the screen, that is, pointing to the person outside the screen;

[0057] When rotating clockwise, the rotation angle is a positive number;

[0058] When rotating counterclockwise, the rotation angle is negative.

[0059] Embodiment 1:

[0060] A method for simulating platform tilt data of a lifting platform simulation operating system is performed in the following steps:

[0061] 1. Calculate the lifting displacement of the four leg ring beams of the lifting platform in the lifting platform simulation operating system in real time (the four leg ring beams are arranged at the four corners of the lifting platform, the No. 1 leg ring beam is diagonally arranged with the No. 3 leg ring beam, and the No. 2 leg ring beam and the No. 4 leg ring beam are adjacent to the No. 1 leg ring beam), and determine the maximum displacement value and the minimum displacement value by comparing the lifting displacement values ​​of the four leg ring beams.

[0062] 2. Compare the maximum displacement value and the minimum displacement value to see if they are equal. If they are not equal, it is determined that the lifting platform is tilted and proceed to step 3.

[0063] 3. If Figure 1 As shown in the figure, if the ring beam of pile leg No. 1 is at the lowest position and the ring beam of pile leg No. 3 is at the highest position, the lifting platform will tilt diagonally from the highest point of pile leg No. 3 to the lowest point of pile leg No. 1. Therefore, the tilt of the lifting platform can be regarded as the angle α between the connecting line of the ring beam of pile leg No. 1 and the ring beam of pile leg No. 3 and the horizontal plane. The tilt state can be approximately achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y-axis direction and counterclockwise by a certain angle angleX along the X-axis direction. This approximate approximation method will not affect the crew's experience in the simulated operating system. Therefore, the tilt angle of the lifting platform is calculated using the following formula:

[0064]

[0065]

[0066] In the above formula, L31 is the height difference between the No. 3 leg ring beam and the No. 1 leg ring beam on the Z axis, that is, perpendicular to the lifting platform direction; L14 and L23 are the coordinate differences between the No. 1 leg ring beam and the No. 2 leg ring beam, and the No. 2 leg ring beam and the No. 3 leg ring beam on the X axis, that is, parallel to the length direction of the lifting platform; L12 and L34 are the coordinate differences between the No. 1 leg ring beam and the No. 2 leg ring beam, and the No. 3 leg ring beam and the No. 4 leg ring beam on the Y axis, that is, parallel to the width direction of the lifting platform;

[0067] like Figure 2As shown in the figure, if the No. 1 pile leg ring beam is in the lowest position and the No. 2 pile leg ring beam is in the highest position, the lifting platform has a tendency to tilt from the No. 2 pile leg ring beam position to the No. 1 pile leg ring beam position and from the No. 2 pile leg ring beam position to the No. 4 pile leg ring beam position. Assuming that the midpoint of the line connecting the No. 2 pile leg ring beam position and the No. 4 pile leg ring beam position is M, the angle α between the line connecting the point M and the No. 1 pile leg ring beam position point and the horizontal plane can be regarded as the inclination angle of the platform in this state. The lifting platform can be approximately achieved by rotating the lifting platform clockwise along the Y-axis direction by a certain angle angleY ​​and counterclockwise along the X-axis direction by a certain angle angleX. Therefore, the inclination angle of the lifting platform is calculated using the following formula:

[0068]

[0069]

[0070] In the above formula, L41 and L21 are the height differences between the No. 4 leg ring beam and the No. 1 leg ring beam, and between the No. 2 leg ring beam and the No. 1 leg ring beam in the Z-axis direction respectively;

[0071] like Figure 3 As shown in the figure, if the No. 1 pile leg ring beam is in the lowest position and the No. 4 pile leg ring beam is in the highest position, the lifting platform has a tendency to tilt from the No. 4 pile leg ring beam position to the No. 1 pile leg ring beam position and from the No. 4 pile leg ring beam position to the No. 2 pile leg ring beam position. Assuming that the midpoint of the line connecting the No. 4 pile leg ring beam position and the No. 2 pile leg ring beam position is M, the angle α between the line connecting the point M and the No. 1 pile leg ring beam position point and the horizontal plane can be regarded as the inclination angle of the platform in this state. The inclination position can be achieved by rotating the lifting platform clockwise along the Y-axis direction by a certain angle angleY ​​and counterclockwise along the X-axis direction by a certain angle angleX. Therefore, the inclination angle of the lifting platform is calculated using the following formula:

[0072]

[0073]

[0074] For the cases where the ring beam of pile leg No. 2 is at the lowest position, the ring beam of pile leg No. 3 is at the lowest position, and the ring beam of pile leg No. 4 is at the lowest position, the inclination angle of the lifting platform can be calculated according to the above method.

Claims

1. A method for simulating platform tilt data of a lifting platform simulation operating system, characterized in that: The method comprises the following steps in sequence: Step 1: Calculate the lifting displacement of the four leg ring beams of the lifting platform in the lifting platform simulation operating system in real time, and judge whether the lifting platform is tilted based on the lifting displacement of the four leg ring beams. If so, proceed to step 2; Step 2: First, calculate the tilt position of the lifting platform based on the highest and lowest pile leg ring beams, and then calculate the tilt angle of the lifting platform in real time based on the displacement values ​​of the four pile leg ring beams, including: If the No. 1 leg ring beam is at the lowest position and the No. 3 leg ring beam is at the highest position, the inclination of the lifting platform can be regarded as the line connecting the No. 1 leg ring beam and the No. 3 leg ring beam. The inclination position is achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y axis and counterclockwise by a certain angle angleX along the X axis. The inclination angle of the lifting platform is calculated using the following formula: In the above formula, L31 is the height difference between the No. 3 leg ring beam and the No. 1 leg ring beam in the Z axis, i.e., perpendicular to the lifting platform deck direction; L14 and L23 are the coordinate differences between the No. 1 leg ring beam and the No. 2 leg ring beam, and the No. 2 leg ring beam and the No. 3 leg ring beam in the X axis, i.e., parallel to the length direction of the lifting platform deck; L12 and L34 are the coordinate differences between the No. 1 leg ring beam and the No. 2 leg ring beam, and the No. 3 leg ring beam and the No. 4 leg ring beam in the Y axis, i.e., parallel to the width direction of the lifting platform deck; If the No. 1 pile leg ring beam is at the lowest position and the No. 2 pile leg ring beam is at the highest position, the lifting platform has a tendency to tilt from the No. 2 pile leg ring beam position to the No. 1 pile leg ring beam position and from the No. 2 pile leg ring beam position to the No. 4 pile leg ring beam position. The tilting position is achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y axis and counterclockwise by a certain angle angleX along the X axis, that is, the tilt angle of the lifting platform is calculated using the following formula: In the above formula, L41 and L21 are the height differences between the No. 4 leg ring beam and the No. 1 leg ring beam, and between the No. 2 leg ring beam and the No. 1 leg ring beam in the Z-axis direction respectively; If the No. 1 pile leg ring beam is at the lowest position and the No. 4 pile leg ring beam is at the highest position, the lifting platform has a tendency to tilt from the No. 4 pile leg ring beam position to the No. 1 pile leg ring beam position and from the No. 4 pile leg ring beam position to the No. 2 pile leg ring beam position. The tilting position is achieved by rotating the lifting platform clockwise by a certain angle angleY ​​along the Y axis and counterclockwise by a certain angle angleX along the X axis, that is, the tilt angle of the lifting platform is calculated using the following formula:

2. The platform tilt data simulation method of a lifting platform simulation operating system according to claim 1, characterized in that: In step 1, the method for determining whether the lifting platform is tilted is: First, the maximum displacement value and the minimum displacement value are determined by comparing the lifting displacement values ​​of the four pile leg ring beams, and then the maximum displacement value and the minimum displacement value are compared to see whether they are equal. If they are not equal, it is determined that the lifting platform is tilted.

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