Analog simulation test unit

Abstract

The application belongs to the technical field of ground refueling, and particularly relates to a simulation test unit. The application comprises an oil tank dynamic simulation system, a mechanical arm docking system, an external computer, an industrial control cabinet and a wireless router. The oil tank dynamic simulation system is used for simulating motion characteristics under different road conditions. The industrial control cabinet is connected with the oil tank dynamic simulation system. The industrial control cabinet is connected with the external computer. Motion instructions output by the external computer to the industrial control cabinet are used to control the oil tank dynamic simulation system. The mechanical arm docking system is placed in parallel with the oil tank dynamic simulation system to simulate an actual dynamic refueling docking position. The mechanical arm docking system is connected with the external computer. The external computer generates a path to control the motion of the mechanical arm. The application has the advantages of high automation, high degree of freedom, simple structure and high simulation degree.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ground refueling, and particularly relates to a simulation test unit. BACKGROUND

[0002] In order to guarantee the mobility of vehicles in war, improve the survival ability of combat vehicles, maximize the combat effectiveness of vehicles, and grasp the initiative in war, dynamic refueling in the running distance of ground vehicles is particularly important.

[0003] At present, the dynamic refueling system has been widely applied to aircraft in-flight refueling. Compared with the air, the operation space is small in the process of ground dynamic refueling, and the stability of the vehicle is poor, which is easily affected by different road conditions, has poor regularity, and is difficult to dynamically refuel. Especially, the process of connecting the refueling arm and the fuel tank is the primary step to ensure the success of dynamic refueling. Therefore, it is urgent to provide a simulation test unit that can realize ground dynamic refueling docking. SUMMARY

[0004] The technical problem to be solved by the application is to provide a simulation test unit that can realize ground dynamic refueling docking, which has the advantages of high automation, high degree of freedom, simple structure, and high simulation degree.

[0005] The technical scheme adopted by the application is as follows:

[0006] A simulation test unit, comprising a fuel tank dynamic simulation system, a mechanical arm docking system, an external computer, an industrial control cabinet, and a wireless router, the fuel tank dynamic simulation system is used to simulate the motion characteristics under different road conditions, the industrial control cabinet is connected with the fuel tank dynamic simulation system, the industrial control cabinet is connected with the external computer, and the motion instructions output from the external computer to the industrial control cabinet are used to control the fuel tank dynamic simulation system; the mechanical arm docking system and the fuel tank dynamic simulation system are placed in parallel, the mechanical arm docking system is connected with the fuel tank dynamic simulation system, and the external computer and the mechanical arm docking system are connected through the wireless router to control the mechanical arm docking system.

[0007] The fuel tank dynamic simulation system comprises a support table, an oil tank is installed at the center of the upper surface of the support table, six telescopic arms are hingedly connected below the support table, and the other ends of the six telescopic arms are hingedly connected with a bottom plate. The support platform has six degrees of freedom movement by changing the length of the six telescopic arms.

[0008] The outer edges of the lower surface of the support table are uniformly provided with six universal joints, one end of each of the six telescopic arms is connected with a universal joint, and the other end of each of the six telescopic arms is hingedly connected with the bottom plate. The bottom plate has a triangular structure, two universal joints are arranged at each corner, and the corresponding adjacent two telescopic arms are connected with the universal joints.

[0009] The upper surface of the support table is provided with a plurality of oil tank magnetic attraction fixers for fixing the oil tank, and a fixing groove is reserved, and the oil tank is secondarily reinforced by an oil tank binding belt.

[0010] The top of the oil tank is provided with a plurality of oil tank magnetic attraction joints with different diameters, the side of the oil tank is provided with an oil tank oil discharge valve, the front of the oil tank is provided with optical mark points and a laser range finder target, and three pairs of lifting rings are further arranged around the oil tank for hoisting.

[0011] The mechanical arm docking system comprises a base, four hollow rods and an oil storage tank, the four hollow rods are sequentially hinged to form a mechanical arm, the bottom of the mechanical arm is connected with the base, an oil conveying pipe is located in the four hollow rods, one end of the oil conveying pipe is communicated with the oil storage tank, and the other end is fixed at the top of the mechanical arm; the top of the mechanical arm is provided with a mechanical arm magnetic attraction docking joint, one double CCD camera is symmetrically fixed and installed on each side, the two double CCD cameras are completely same in model and parameter, and the coordinate systems of the two double CCD cameras are coplanar, and are used for acquiring the spatial position information of the oil tank and the oil tank magnetic attraction joint; two laser range finders and a pair of inclination sensors are arranged behind the mechanical arm magnetic attraction docking joint, the laser range finder is arranged in the middle of the topmost mechanical arm and is collinear with the double CCD camera, and the inclination sensor is arranged on the two sides of the topmost mechanical arm.

[0012] The arm body part of the mechanical arm has four degrees of freedom, and the head of the mechanical arm has two degrees of freedom.

[0013] The wireless router is used for providing a wireless local area network, and is wirelessly connected with the laser range finder and the inclination sensor through an external computer, and is used for data transmission and processing.

[0014] The external computer comprises a data transmission unit and a data processing unit, the data transmission unit transmits the oil tank motion space image captured by the double CCD camera to the data processing unit; the data processing unit is used for processing the oil tank motion space image captured by the double CCD camera, identifying and obtaining the optical mark points around the oil tank magnetic attraction joint, acquiring the spatial position information of the oil tank magnetic attraction joint, accurately positioning in combination with the distance and angle information returned by the laser range finder and the inclination sensor, generating a mechanical arm motion path, tracking the oil tank magnetic attraction joint and implementing docking.

[0015] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0016] (1) The simulation test unit provided by the application is based on a six-degree-of-freedom mobile platform, can realize simulation of complex motion conditions of an oil tank under different road conditions, and has bearing degree, motion range and adjustment precision consistent with actual conditions, high restoration degree and strong reliability.

[0017] (2) The simulation test unit provided by the application is provided with a binocular positioning system and a positioning auxiliary system, acquires optical position features of target marks through design of feature points, and combines with inclination features to constrain binocular vision imaging features, thereby greatly improving spatial position measurement precision and dynamic stability of the simulation oil tank and the interface.

[0018] (3) The simulation test unit provided by the application adopts real engineering vehicle oil tank sizes for experiments, can realize simulation of various complex road surfaces such as mountains, highways, sand and mud, can self-program and develop oil tank motion forms, has high precision, the collected images are basically consistent with real images of actual engineering vehicles, and experimental results have high reliability. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a structural schematic view of the simulation test unit disclosed by the application.

[0021] Figure 2 is an oil tank dynamic simulation system and positioning mark schematic view disclosed by the application.

[0022] Figure 3 is a mechanical arm, binocular positioning system and positioning auxiliary system schematic view disclosed by the application.

[0023] In the figure: 1, oil tank dynamic simulation system, 2, mechanical arm docking system, 3, external computer, 4, industrial control cabinet, 5, wireless router, 6, oil tank magnetic suction joint, 7, oil tank oil discharge valve, 8, servo motor, 9, oil tank magnetic suction fixer, 10, optical mark point, 11, laser range finder target, 12, oil tank binding belt, 13, binocular CCD camera, 14, laser range finder, 15, mechanical arm magnetic suction docking joint, 16, inclination sensor. DETAILED DESCRIPTION

[0024] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of the present application.

[0025] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] As Figure 1 shown, the present application provides a simulation test unit, which comprises an oil tank dynamic simulation system 1, a mechanical arm docking system 2, an external computer 3, an industrial control cabinet 4, a wireless router 5,

[0028] The oil tank dynamic simulation system 1 is used to simulate the motion characteristics under different road conditions, the industrial control cabinet 4 is connected with the oil tank dynamic simulation system 1, the industrial control cabinet 4 is connected with the external computer 3 on the operation table, and the motion instruction output by the external computer 3 to the industrial control cabinet 4 is used to control the oil tank dynamic simulation system 1; the mechanical arm docking system 2 is docked with the oil tank dynamic simulation system 1, and the external computer 3 is connected with the mechanical arm docking system 2 through the wireless router 5, so as to control the mechanical arm docking system 2.

[0029] As Figure 2As shown, the oil tank dynamic simulation system 1 is built based on a six-degree-of-freedom mobile platform, including an oil tank magnetic suction connector 6, an oil tank oil discharge valve 7, a servo motor 8, an oil tank magnetic suction fixer 9, an optical marker point 10, a laser range finder target 11, and an oil tank binding belt 12. The platform is a hexagonal or rectangular stainless steel support table surface. The oil tank is placed in the center of the upper surface of the stainless steel support table. The stainless steel support table is provided with a plurality of oil tank magnetic suction fixers 9 for fixing the oil tank, and a fixed groove is reserved on the surface to facilitate secondary reinforcement of the oil tank by the oil tank binding belt 12. The outer edge of the lower surface of the stainless steel support table is uniformly provided with six universal joints. One end of each of the six telescopic arms is connected to the universal joint, and the other end of each of the six telescopic arms is hingedly connected to the bottom plate. The bottom plate is triangular in structure and is provided with two universal joints at each corner. Correspondingly, two adjacent telescopic arms are connected to the universal joints, which can ensure the stability of the support table. A servo motor 8 is installed on each telescopic arm. The telescopic arm is a telescopic structure, and the telescopic amount of the telescopic arm is controlled by the servo motor 8, thereby realizing six-degree-of-freedom movement of the top stainless steel support table. The top of the oil tank is provided with a plurality of oil tank magnetic suction connectors 6 with different diameters. The bottom of the side surface of the oil tank is provided with an oil tank oil discharge valve 7. The front surface of the oil tank is provided with an optical marker point 10 and a laser range finder target 11. Three pairs of lifting rings are provided around the oil tank for lifting.

[0030] The oil tank dynamic simulation system 1 can realize six-degree-of-freedom movement, including horizontal displacement in x and y directions and vertical movement in z direction, and also includes three motion modes of pitching, rolling and yawing.

[0031] The mechanical arm docking system 2 is placed in parallel with the oil tank dynamic simulation system 1, as shown in Figure 3As shown, the mechanical arm docking system 2 includes a base, four hollow rods, an oil storage tank, the four hollow rods are sequentially hinged to form a mechanical arm, the bottom of the mechanical arm is connected with the base, an oil delivery pipe is located inside the four hollow rods, one end of the oil delivery pipe is communicated with the oil storage tank, and the other end is fixed at the top of the mechanical arm; the topmost mechanical arm head is provided with a mechanical arm magnetic attraction docking head 15, and one double CCD camera 13 is symmetrically and fixedly installed on each side, the two double CCD cameras 13 are of the same model and parameters, and the coordinate systems of the two double CCD cameras are coplanar, which are used to obtain the spatial position information of the oil tank and the oil tank magnetic attraction joint 6; two laser range finders 14 and a pair of inclination sensors 16 are arranged behind the mechanical arm magnetic attraction docking head 15, the laser range finder 14 is arranged in the middle of the topmost mechanical arm and is collinear with the double CCD camera 13, and the inclination sensor 16 is arranged on the two sides of the topmost mechanical arm, and the laser range finder 14 and the inclination sensor 16 are used to correct the spatial coordinates obtained by the binocular positioning.

[0032] The mechanical arm docking system 2 has four degrees of freedom in the arm body part and two degrees of freedom in the mechanical arm head part. A rotating disc is arranged at the connection between the mechanical arm and the base, so that the mechanical arm can be driven to rotate horizontally.

[0033] The wireless router 5 is used to provide a wireless local area network, and is used for wireless connection of the external computer 3, the laser range finder 14 and the inclination sensor 16, so as to provide data transmission support.

[0034] The simulation test unit also includes a data transmission unit and a data processing unit, which are used to analyze and correct the data returned by the double CCD camera 13, the laser range finder 14 and the inclination sensor 16. The data transmission unit is used to transmit the oil tank movement space image photographed by the double CCD camera 13 to the data processing unit. The data processing unit is used to process the oil tank image photographed by the double CCD camera 13, identify and obtain the optical marker points around the oil tank magnetic attraction joint 6, accurately obtain the spatial position information of the oil tank magnetic attraction joint 6, accurately position in combination with the distance and angle information returned by the laser range finder 14 and the inclination sensor 16, generate a mechanical arm movement path, track the oil tank magnetic attraction joint 6 and implement docking.

[0035] The oil delivery pipe is connected with the bottom oil storage tank and directly passes through the mechanical arm head, and the mechanical arm head is provided with a mechanical arm magnetic attraction docking head 15 for docking with the oil tank.

[0036] It will be obvious to a person skilled in the art that the application is not limited to the details of the foregoing exemplary embodiments and can be implemented in other concrete forms without departing from the spirit or essential characteristics of the application. The embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims to the identity of the reference signs therein.

[0037] Furthermore, it should be understood that although the description is made on the basis of the embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A simulation test unit, characterized by: The application relates to a dynamic oil tank simulation system, which comprises an oil tank dynamic simulation system (1), a mechanical arm docking system (2), an external computer (3), an industrial control cabinet (4) and a wireless router (5), wherein the oil tank dynamic simulation system (1) is used for simulating motion characteristics under different road conditions, the industrial control cabinet (4) is connected with the oil tank dynamic simulation system (1), the industrial control cabinet (4) is connected with the external computer (3), motion instructions output by the external computer (3) to the industrial control cabinet (4) are used for controlling the oil tank dynamic simulation system (1), the mechanical arm docking system (2) is placed in parallel with the oil tank dynamic simulation system (1), the mechanical arm docking system (2) is docked with the oil tank dynamic simulation system (1), the external computer (3) is connected with the mechanical arm docking system (2) through the wireless router (5), and the mechanical arm docking system (2) is controlled. The oil tank dynamic simulation system (1) comprises a support table top, an oil tank is installed at the center of the top of the support table top, six telescopic arms are hingedly connected below the support table top, the other ends of the six telescopic arms are hingedly connected with a bottom plate, and the support platform has six degrees of freedom movement by changing the lengths of the six telescopic arms. The top of the oil tank is provided with a plurality of oil tank magnetic connectors (6) with different diameters, the side bottom of the oil tank is provided with an oil tank oil discharge valve (7), the front of the oil tank is provided with optical marking points (10) and a laser range finder target (11), two pairs of lifting rings are further arranged around the oil tank for hoisting, the oil tank is made of transparent organic glass, a scale is arranged on the surface of the oil tank for conveniently observing the oil injection amount, and a transparent organic glass partition plate is arranged in the oil tank. The mechanical arm docking system (2) comprises a base, four hollow rods and an oil storage tank, the four hollow rods are hingedly connected to form a mechanical arm, the bottom of the mechanical arm is connected with the base, an oil conveying pipe is located in the four hollow rods, one end of the oil conveying pipe is in communication with the oil storage tank, and the other end is fixed to the top of the mechanical arm; a mechanical arm magnetic docking connector (15) is arranged at the top of the mechanical arm, one double-eye CCD camera (13) is symmetrically and fixedly arranged on each side of the mechanical arm magnetic docking connector (15), the two double-eye CCD cameras (13) are completely same in model and parameter, the coordinate systems of the two cameras are coplanar, and the two double-eye CCD cameras (13) are used for acquiring the spatial position information of the oil tank and the oil tank magnetic connector (6); two laser range finders (14) and a pair of inclination sensors (16) are arranged behind the mechanical arm magnetic docking connector (15), the laser range finder (14) is arranged at the middle of the topmost mechanical arm and is collinear with the double-eye CCD camera (13), the inclination sensors (16) are arranged on the two sides of the topmost mechanical arm, and the laser range finder (14) and the inclination sensors (16) are used for correcting the spatial coordinates acquired by the double-eye positioning. The external computer (3) comprises a data transmission unit and a data processing unit, the data transmission unit transmits the oil tank movement space image captured by the binocular CCD camera (13) to the data processing unit; the data processing unit is used for processing the oil tank movement space image captured by the binocular CCD camera (13), identifying and obtaining optical mark points around the oil tank magnetic suction connector (6), obtaining the space position information of the magnetic suction connector (6), accurately positioning in combination with the distance and angle information returned by the laser range finder (14) and the tilt sensor (16), generating a mechanical arm movement path, tracking the oil tank magnetic suction connector (6) and implementing the docking.

2. The analog simulation test unit of claim 1, wherein: The outer edges of the lower surface of the support platform are uniformly provided with six universal joints, one end of each of the six telescopic arms is connected with a universal joint, and the other end of each of the six telescopic arms is hingedly connected to the bottom plate.

3. The analog simulation test unit of claim 1, wherein: The upper surface of the support platform is provided with a plurality of oil tank magnetic suction fixers (9) for fixing the oil tank, and a fixing groove is reserved for the oil tank, and the oil tank is secondarily reinforced by an oil tank binding belt (12).

4. The analog simulation test unit of claim 1, wherein: The arm body part of the mechanical arm has four degrees of freedom, and the head part of the mechanical arm has two degrees of freedom.

5. The analog simulation test unit of claim 1, wherein: The wireless router (5) is used for providing a wireless local area network, and is wirelessly connected with the external computer (3), the laser range finder (14) and the tilt sensor (16) for data transmission and processing.

Images