A target simulation system for realizing semi-physical simulation of electric shovel

Abstract

The present invention relates to the field of target simulation adjustment technology, and in particular to a target simulation system for realizing semi-physical simulation of an electric shovel. The system includes an electric shovel semi-physical simulation platform construction module, an electric shovel target operation pre-setting execution module, an electric shovel target operation parameter real-time acquisition module, and a target simulation feedback adjustment control optimization module. The electric shovel semi-physical simulation platform can be designed and established; the target operation parameter condition restrictions and electric shovel target operation execution processing are performed on the actual electric shovel structure to generate the electric shovel structure semi-physical target operation operation execution process, and the electric shovel operation parameters are collected in real time and uploaded to the electric shovel semi-physical physical simulation model; the electric shovel semi-physical physical simulation model is used to perform target simulation feedback error adjustment analysis and target execution control optimization to generate the electric shovel semi-physical target operation execution control optimization process. The present invention can realize the real simulation and dynamic adjustment of the electric shovel target operation process.

Description

Technical Field

[0001] The present invention relates to the technical field of target simulation adjustment, and in particular to a target simulation system for realizing semi-physical simulation of an electric shovel. Background Art

[0002] In the field of engineering and training, semi-physical simulation technology of electric shovels (excavators) is an important training and performance evaluation tool that can effectively simulate operating scenarios and action reactions in real working environments. With the advancement of technology, the semi-physical simulation target simulation method of electric shovel based on new technology has become an innovative direction of the industry, which can provide a new solution for improving simulation accuracy, enhancing user interaction experience and optimizing training effect. By introducing high-fidelity physical models and sensor technology to establish a physical model of the actual electric shovel structure, including the true replication of mechanical structure, control system and motion mechanism, simulating the physical characteristics and motion response in the real working scene, sensor technology such as force sensor, position sensor, etc. are integrated into the model to obtain and feedback the operator's operating behavior and environmental conditions in real time, ensuring the high consistency and comparability between the simulation system and the actual operation. It also realizes the virtual-real fusion of electric shovel operation by combining virtual reality and augmented reality technology, and uses head-mounted display and augmented reality glasses to superimpose virtual scenes and physical models in real time, so that operators can perform virtual tasks and operations on the actual electric shovel model, so that the tasks and scenes in the virtual environment are combined with the dynamic response of the physical model, providing operators with highly realistic operating experience and feedback, promoting the improvement of operating skills and the ability to deal with complex scenes. However, the traditional electric shovel simulation system is mainly based on virtual reality technology, and there is a problem that it cannot fully and accurately simulate the actual operating environment and physical feedback. Summary of the invention

[0003] Based on this, it is necessary for the present invention to provide a target simulation system for realizing semi-physical simulation of an electric shovel to solve at least one of the above technical problems.

[0004] To achieve the above purpose, a target simulation system for realizing semi-physical simulation of electric shovel includes the following modules:

[0005] An electric shovel semi-physical simulation platform construction module is used to design and establish an electric shovel semi-physical simulation platform through an actual electric shovel structure, position sensor, mechanical sensor, attitude sensor, actuator and virtual simulation control system, wherein the electric shovel semi-physical simulation platform includes an electric shovel semi-physical operation connection control panel constructed by connecting the actual electric shovel structure, position sensor, mechanical sensor, attitude sensor and actuator, and an electric shovel semi-physical physical simulation model modeled by combining the actual electric shovel structure and the virtual simulation control system, wherein the position sensor, mechanical sensor, attitude sensor and actuator are also implicitly connected to the virtual simulation control system;

[0006] The electric shovel target operation pre-setting execution module is used to restrict the target operation parameter conditions of the actual electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform to obtain the electric shovel structure operation target operation setting parameter restriction conditions; based on the electric shovel structure operation target operation setting parameter restriction conditions, the actuator is used to perform the electric shovel target operation execution processing on the actual electric shovel structure to generate the electric shovel structure semi-physical target operation operation execution process;

[0007] The electric shovel target operation parameter real-time acquisition module is used to collect the electric shovel operation parameters in real time during the execution process of the semi-physical target operation operation of the electric shovel structure through position sensors, mechanical sensors and posture sensors, so as to obtain the electric shovel target operation operation position real-time parameters, the electric shovel target operation operation force real-time parameters and the electric shovel target operation operation posture real-time parameters; upload the electric shovel target operation position real-time parameters, the electric shovel target operation operation force real-time parameters and the electric shovel target operation operation posture real-time parameters to the electric shovel semi-physical physical simulation model;

[0008] The target simulation feedback adjustment control optimization module is used to use the electric shovel semi-physical physical simulation model to perform target simulation feedback error adjustment analysis on the real-time parameters of the electric shovel's target operation position, the real-time parameters of the electric shovel's target operation force, and the real-time parameters of the electric shovel's target operation posture, and obtain the electric shovel's semi-physical target simulation feedback error adjustment parameter set; based on the electric shovel's semi-physical target simulation feedback error adjustment parameter set, the electric shovel's semi-physical operation connection control panel's dynamic response control actuator is used to perform target execution control optimization on the electric shovel's structure semi-physical target operation operation execution process, so as to generate the electric shovel's semi-physical target operation execution control optimization process.

[0009] Furthermore, the electric shovel semi-physical simulation platform construction module includes the following functions:

[0010] Analyze the operational function requirements and operational characteristics of the actual electric shovel structure to obtain the operational function requirement data and operational characteristic data of the electric shovel structure;

[0011] Based on the shovel structure operation function requirement data and shovel structure operation characteristic data, the key parts positioning analysis of the actual shovel structure is carried out to obtain the sensor positioning nodes of the key parts of the shovel structure control;

[0012] Position sensors, mechanical sensors and attitude sensors are deployed on the sensor positioning nodes of the key parts of the electric shovel structure control, and the actual electric shovel structure, position sensors, mechanical sensors, attitude sensors and actuators are connected to build a control panel to generate a semi-physical operation connection control panel of the electric shovel;

[0013] Based on the virtual simulation control system, the semi-physical simulation analysis of the actual electric shovel structure is carried out to obtain the semi-physical simulation model of the electric shovel;

[0014] The semi-physical operation connection control panel of the electric shovel and the semi-physical physical simulation model of the electric shovel are processed to build a simulation platform to establish a semi-physical simulation platform for the electric shovel, in which the position sensor, mechanical sensor, attitude sensor and actuator are also implicitly connected to the virtual simulation control system.

[0015] Furthermore, the locating analysis of key parts of the electric shovel structure of the actual electric shovel structure based on the electric shovel structure operation function requirement data and the electric shovel structure operation characteristic data includes:

[0016] Based on the shovel structure operation function requirement data, the structural parts required for the operation function of the actual shovel structure are identified and analyzed to obtain the structural parts required for the shovel operation function;

[0017] The operation characteristic data of the electric shovel structure are processed by dividing the operation modes to obtain the structural operation characteristic data of the electric shovel structure under different operation modes;

[0018] Based on the structural operation characteristic data of the electric shovel structure in different operation modes, the operation performance performance of the actual electric shovel structure is analyzed to obtain the actual structural operation dynamic characteristic performance data of the electric shovel structure in different operation modes;

[0019] According to the actual operation dynamic characteristics performance data of the electric shovel structure under different operation modes, the operation performance impact evaluation and analysis of the structural parts required for the electric shovel operation function is carried out to obtain the performance impact score of the parts required for the electric shovel operation function; based on the performance impact score of the parts required for the electric shovel operation function, the key parts of the structural parts required for the electric shovel operation function are screened and processed to obtain the key parts for the electric shovel operation function control;

[0020] The sensor monitoring and positioning nodes of the key parts of the electric shovel operation function control are designed to obtain the sensor positioning nodes of the key parts of the electric shovel structure control.

[0021] Furthermore, the design of sensor monitoring and positioning nodes for key parts of the shovel operation function control includes:

[0022] Acquire sensors to be installed, where the sensors to be installed include position sensors, mechanical sensors, and attitude sensors, and perform initial sensor node design on key parts of the electric shovel operation function control based on the sensors to be installed, and obtain initial sensor node design for key parts of the electric shovel structure to be installed;

[0023] Monitor the range of motion state changes of key parts of the shovel operation function control to obtain the range of motion state changes of key parts of the shovel operation control;

[0024] Analyze the monitoring coverage of the sensors to be installed on the initial sensor nodes to be installed at the key parts of the shovel structure, and obtain the monitoring coverage size of the initial sensor nodes at the key parts;

[0025] Based on the range of motion state changes of key parts of the shovel operation control and the monitoring coverage of the key parts of the initial sensor nodes, the node positions of the initial sensor nodes to be installed in the key parts of the shovel structure are optimized to obtain the sensor positioning nodes of the key parts of the shovel structure control.

[0026] Furthermore, the semi-physical simulation analysis of the actual electric shovel structure based on the virtual simulation control system includes the following steps:

[0027] The actual electric shovel structure is analyzed to obtain the components of the electric shovel mechanical structure and the components of the electric shovel power system;

[0028] Based on the components of the electric shovel mechanical structure and the components of the electric shovel power system, a virtual simulation modeling tool is used to perform physical simulation modeling of the actual electric shovel structure to generate a physical virtual simulation model of the electric shovel structure;

[0029] Based on the virtual simulation control system, the kinematics simulation design of the electric shovel structure physical virtual simulation model is carried out to obtain the kinematics simulation conditions of the electric shovel structure physical model;

[0030] Based on the virtual simulation control system, the shovel structure physical virtual simulation model is used to perform shovel dynamics simulation design, and the dynamics simulation conditions of the shovel structure physical model are obtained;

[0031] According to the kinematic simulation conditions of the electric shovel structure physical model and the dynamic simulation conditions of the electric shovel structure physical model, the electric shovel semi-physical simulation control analysis is performed on the electric shovel structure physical virtual simulation model to obtain the electric shovel semi-physical physical simulation model.

[0032] Furthermore, the electric shovel target operation pre-setting execution module includes the following functions:

[0033] Analyze the actual operation scenario of the actual electric shovel structure to obtain the actual operation scenario of the electric shovel structure;

[0034] Analyze the task requirements of the actual electric shovel structure to obtain the actual operation task requirements of the electric shovel structure;

[0035] Based on the actual operation scenario of the electric shovel structure and the actual operation task requirements of the electric shovel structure, the electric shovel operation target is determined for the actual electric shovel structure to obtain the actual operation target operation of the electric shovel structure;

[0036] The target operation parameter condition restriction is performed on the target operation of the electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, so as to obtain the setting parameter restriction condition of the target operation of the electric shovel structure operation;

[0037] Based on the parameter restriction conditions of the target operation of the electric shovel structure, the actuator is used to perform the target operation execution processing of the electric shovel structure to generate the semi-physical target operation execution process of the electric shovel structure.

[0038] Furthermore, the target operation parameter condition restriction on the actual operation target operation of the electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform includes:

[0039] The excavation depth of the actual operation target operation of the electric shovel structure is controlled and set by connecting the control panel of the electric shovel semi-physical operation in the electric shovel semi-physical simulation platform, and the excavation depth of the target operation operation of the electric shovel structure is obtained;

[0040] The excavation speed control setting is performed on the target operation of the electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, and the target operation excavation speed of the electric shovel structure operation is obtained;

[0041] Based on the excavation depth and excavation speed of the electric shovel structure operation target operation, the excavation parameter condition restriction analysis of the actual operation target operation of the electric shovel structure is performed to obtain the excavation parameter restriction conditions of the electric shovel structure operation target;

[0042] The steering angle of the actual operation target operation of the electric shovel structure is controlled and set by connecting the control panel of the electric shovel semi-physical operation in the electric shovel semi-physical simulation platform, and the steering angle of the target operation operation of the electric shovel structure is obtained;

[0043] Based on the steering angle of the electric shovel structure operation target operation, the steering power parameter condition restriction analysis is performed on the actual operation target operation of the electric shovel structure, and the steering power parameter restriction condition of the electric shovel structure operation target is obtained;

[0044] The target excavation parameter constraint conditions of the electric shovel structure operation and the target steering power parameter constraint conditions of the electric shovel structure operation are combined to obtain the target operation setting parameter constraint conditions of the electric shovel structure operation.

[0045] Furthermore, the electric shovel target operating parameter real-time acquisition module includes the following functions:

[0046] The position sensor is used to collect the real-time operation position of the electric shovel during the execution of the semi-physical target operation operation of the electric shovel structure, so as to obtain the real-time parameters of the target operation position of the electric shovel;

[0047] The shovel operation force is collected in real time during the execution of the semi-physical target operation of the shovel structure through mechanical sensors to obtain the real-time parameters of the shovel target operation force;

[0048] The posture sensor is used to collect the shovel's operating posture in real time during the execution of the semi-physical target operation of the shovel structure, so as to obtain the real-time parameters of the shovel's target operation posture;

[0049] The real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel and the real-time parameters of the target operation posture of the electric shovel are uploaded to the semi-physical simulation model of the electric shovel.

[0050] Furthermore, the target simulation feedback adjustment control optimization module includes the following functions:

[0051] By taking the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel and the real-time parameters of the target operation posture of the electric shovel as the target operation operation simulation input parameter conditions of the electric shovel, and using the electric shovel semi-physical physical simulation model to perform target operation simulation processing on the target operation simulation input parameter conditions of the electric shovel, a semi-physical target operation operation simulation process model of the electric shovel is obtained;

[0052] Based on the electric shovel semi-physical target operation operation simulation process model, the target simulation feedback error statistical analysis is performed on the real-time parameters of the electric shovel target operation operation position, the real-time parameters of the electric shovel target operation operation force, and the real-time parameters of the electric shovel target operation operation posture, and the operation simulation feedback error set between the electric shovel real-time operation and the target simulation process is obtained;

[0053] The error adjustment analysis is performed on the operation simulation feedback error set between the real-time operation of the electric shovel and the target simulation process, and the error adjustment parameter set of the electric shovel semi-physical target simulation feedback is obtained;

[0054] Based on the error adjustment parameter set of the electric shovel semi-physical target simulation feedback, the error response control of the electric shovel semi-physical operation connection control panel is performed to generate the electric shovel structure semi-physical target operation error response control instruction;

[0055] The target execution control optimization of the semi-physical target operation operation execution process of the electric shovel structure is carried out by utilizing the dynamic response control actuator of the semi-physical target operation error response control instruction of the electric shovel structure to generate the semi-physical target operation execution control optimization process of the electric shovel.

[0056] Furthermore, the target simulation feedback error statistical analysis of the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel, and the real-time parameters of the target operation posture of the electric shovel based on the semi-physical target operation operation simulation process model of the electric shovel includes:

[0057] Conduct target parameter simulation feedback analysis on the electric shovel semi-physical target operation operation simulation process model to obtain the electric shovel model target operation operation position simulation feedback parameters, the electric shovel model target operation operation force simulation feedback parameters and the electric shovel model target operation operation posture simulation feedback parameters;

[0058] Performing an operation position target simulation error analysis between the target operation position simulation feedback parameters of the electric shovel model and the target operation position real-time parameters of the electric shovel, and obtaining the operation position error value between the real-time operation of the electric shovel and the target simulation process;

[0059] Performing an operation force target simulation error analysis between the target operation force simulation feedback parameter of the electric shovel model and the target operation force real-time parameter of the electric shovel, and obtaining the operation force error value between the real-time operation of the electric shovel and the target simulation process;

[0060] Performing an operation attitude target simulation error analysis between the target operation attitude simulation feedback parameters of the electric shovel model and the target operation attitude real-time parameters of the electric shovel, and obtaining the operation attitude error value between the real-time operation of the electric shovel and the target simulation process;

[0061] The operating position error value, operating force error value and operating posture error value between the real-time operation of the electric shovel and the target simulation process are merged to obtain the operation simulation feedback error set between the real-time operation of the electric shovel and the target simulation process.

[0062] Beneficial effects of the present invention:

[0063] The target simulation system for realizing the semi-physical simulation of an electric shovel proposed in the present invention is generally composed of a semi-physical simulation platform construction module for an electric shovel, a pre-setting execution module for the target operation of the electric shovel, a real-time acquisition module for the target operation parameters of the electric shovel, and a target simulation feedback adjustment control optimization module. Compared with the prior art, the beneficial effect of the present application is that the operation functions and characteristics required by the actual electric shovel structure under different working conditions are analyzed in detail, including but not limited to data extraction, precise positioning, bearing capacity, stability and safety, and the key parts affecting the overall performance and control of the electric shovel structure are determined based on the operation characteristic data obtained by the above analysis, so as to ensure that their positions and performances support the operation and control requirements of the electric shovel structure to the maximum extent. At the same time, by deploying position sensors, mechanical sensors and attitude sensors on the key parts determined previously, and connecting the actual electric shovel structure, the deployed sensors and actuators to a control panel, so as to form a semi-physical operation connection control panel of the electric shovel, the key to this step is that through precise sensor arrangement and effective control panel connection, real-time monitoring and control of various parameters of the electric shovel structure can be realized. This operation connection design not only improves the operation efficiency and accuracy of the electric shovel, but also enhances its stability and safety in complex environments. At the same time, the actual electric shovel structure is subjected to semi-physical simulation analysis by using a virtual simulation control system. This step uses computer simulation technology to conduct a comprehensive and accurate simulation analysis of the physical behavior and working performance of the electric shovel structure, including the response, load bearing capacity, stability and interaction with the environment of the electric shovel under different working conditions. The electric shovel semi-physical operation connection control panel and the electric shovel semi-physical physical simulation model determined previously are combined to establish an electric shovel semi-physical simulation platform. The platform not only includes the integration of the physical operation connection control panel and the physical simulation model, but also the position sensors, mechanical sensors, attitude sensors and actuators are implicitly connected to the virtual simulation control system, which can realize a comprehensive simulation analysis and test environment, thereby providing a solid theoretical basis and technical support for the subsequent target simulation application process. Secondly, by using the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, parameter conditions are imposed on the actual target operation of the actual electric shovel structure. The key to this step is to simulate the operation scenarios under different conditions through the simulation platform, parameterize the operation targets of the electric shovel and adjust the restriction conditions. Through the simulation platform, the influence of various operation parameters on the performance and operation effect of the electric shovel can be simulated and evaluated, thereby providing optimized operation settings and control strategies for actual operations.By setting parameter constraints based on the target operation of the shovel structure, the actuator is used to execute the target operation of the shovel on the actual shovel structure. This step converts the previous simulation and set operation goals into the actual operation execution process. The actuator controls the movement and feedback of the shovel to ensure that the shovel completes the actual operation goals according to the set parameters and conditions. This not only improves the operation accuracy and efficiency of the shovel, but also verifies the effectiveness of the previously set operation goals and simulation analysis. Then, the real-time collection of the shovel operating parameters during the semi-physical target operation execution process of the shovel structure is carried out through position sensors, mechanical sensors and attitude sensors, which is a key step to ensure the accuracy of the real-time operating parameters of the shovel during operation. Among them, the position sensor can monitor the specific position and movement path of the shovel in real time, and transmit these data to the simulation model in the subsequent process to ensure that the shovel moves according to the predetermined path and position in the actual operation. The mechanical sensor can measure the applied force, carrying capacity and response force to the environment of the shovel, and help determine and control the workload and force output of the shovel. The collection and analysis of these real-time parameters help to optimize the action force and load management of the shovel, thereby ensuring that the shovel can operate stably and reliably under different working conditions. The attitude sensor can obtain data such as the tilt, rotation and direction change of the shovel in real time to ensure that the shovel can maintain a stable operating posture under different working conditions. The collection and analysis of these real-time attitude parameters help to adjust and optimize the operating posture of the shovel, ensure that it can still operate effectively in a complex and unstable working environment, and improve the safety and accuracy of the operation. Uploading the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel, and the real-time parameters of the target operation posture of the electric shovel to the semi-physical simulation model of the electric shovel is a key step in integrating and analyzing the operation data of the electric shovel. By uploading the real-time collected position, force and posture parameters to the simulation model, the actual operation environment and physical feedback information of the electric shovel structure can be fully and accurately simulated, and the operation strategy and parameter setting of the electric shovel structure can be optimized, and the operation efficiency and accuracy of the electric shovel structure can be further improved. Finally, by using the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel, and the real-time parameters of the target operation posture of the electric shovel as the input parameter conditions of the target operation simulation of the electric shovel, and using the semi-physical simulation model of the electric shovel to simulate the target operation, the operation process of the electric shovel in the actual operation can be accurately reproduced. This simulation can not only simulate the movement path and operation mode of the electric shovel, but also predict the performance under different working conditions.By performing statistical analysis of the target simulation feedback error of the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel, and the real-time parameters of the target operation posture of the electric shovel according to the simulation results, the error between the real-time operation of the electric shovel and the simulation process can be evaluated. These error analyses help identify the deviations and inconsistencies in the actual operation, and adjust the parameter set of the simulation feedback error by analyzing the error source and influencing factors, thereby improving the prediction ability of the simulation model and the matching degree of the actual operation. In addition, the target execution control optimization of the semi-physical target operation operation execution process of the electric shovel structure is carried out by using the electric shovel semi-physical operation connection control panel to generate error response control instructions based on the electric shovel semi-physical target simulation feedback error adjustment parameter set, and the target execution control optimization of the electric shovel structure semi-physical target operation operation execution process can be achieved. The optimized control of this actuator ensures that the electric shovel can quickly respond to the adjustment instructions of the simulation model during the operation process, and realize accurate operation path and force control. Through the continuous optimization process, the efficiency and accuracy of the electric shovel operation can be maximized, while reducing energy consumption and equipment loss, providing a solid technical foundation for the successful implementation of the electric shovel semi-physical simulation target simulation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments thereof made with reference to the following drawings:

[0065] Figure 1 It is a schematic diagram of a target simulation system for realizing semi-physical simulation of an electric shovel according to the present invention;

[0066] Figure 2 for Figure 1 Schematic diagram of the functional flow of the construction modules of the semi-physical simulation platform of the China Electric Shovel;

[0067] Figure 3 for Figure 1 Schematic diagram of the functional flow of the pre-set execution module of the target operation of the electric shovel;

[0068] Figure 4 It is a schematic diagram of the structural connection relationship of the semi-physical simulation platform of the electric shovel of the present invention. DETAILED DESCRIPTION

[0069] The technical system of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by technicians in this field without creative work are within the scope of protection of the present invention.

[0070] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. The functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor systems and / or microcontroller systems.

[0071] It should be understood that, although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another unit. For example, without departing from the scope of the exemplary embodiments, the first unit may be referred to as the second unit, and similarly the second unit may be referred to as the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0072] To achieve this, please refer to Figures 1 to 4 The present invention provides a target simulation system for realizing semi-physical simulation of an electric shovel, the system comprising the following modules:

[0073] An electric shovel semi-physical simulation platform construction module is used to design and establish an electric shovel semi-physical simulation platform through an actual electric shovel structure, position sensor, mechanical sensor, attitude sensor, actuator and virtual simulation control system, wherein the electric shovel semi-physical simulation platform includes an electric shovel semi-physical operation connection control panel constructed by connecting the actual electric shovel structure, position sensor, mechanical sensor, attitude sensor and actuator, and an electric shovel semi-physical physical simulation model modeled by combining the actual electric shovel structure and the virtual simulation control system, wherein the position sensor, mechanical sensor, attitude sensor and actuator are also implicitly connected to the virtual simulation control system;

[0074] The electric shovel target operation pre-setting execution module is used to restrict the target operation parameter conditions of the actual electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform to obtain the electric shovel structure operation target operation setting parameter restriction conditions; based on the electric shovel structure operation target operation setting parameter restriction conditions, the actuator is used to perform the electric shovel target operation execution processing on the actual electric shovel structure to generate the electric shovel structure semi-physical target operation operation execution process;

[0075] The electric shovel target operation parameter real-time acquisition module is used to collect the electric shovel operation parameters in real time during the execution process of the semi-physical target operation operation of the electric shovel structure through position sensors, mechanical sensors and posture sensors, so as to obtain the electric shovel target operation operation position real-time parameters, the electric shovel target operation operation force real-time parameters and the electric shovel target operation operation posture real-time parameters; upload the electric shovel target operation position real-time parameters, the electric shovel target operation operation force real-time parameters and the electric shovel target operation operation posture real-time parameters to the electric shovel semi-physical physical simulation model;

[0076] The target simulation feedback adjustment control optimization module is used to use the electric shovel semi-physical physical simulation model to perform target simulation feedback error adjustment analysis on the real-time parameters of the electric shovel's target operation position, the real-time parameters of the electric shovel's target operation force, and the real-time parameters of the electric shovel's target operation posture, and obtain the electric shovel's semi-physical target simulation feedback error adjustment parameter set; based on the electric shovel's semi-physical target simulation feedback error adjustment parameter set, the electric shovel's semi-physical operation connection control panel's dynamic response control actuator is used to perform target execution control optimization on the electric shovel's structure semi-physical target operation operation execution process, so as to generate the electric shovel's semi-physical target operation execution control optimization process.

[0077] In the embodiment of the present invention, please refer to Figure 1 FIG. 1 is a schematic diagram of a target simulation system for realizing semi-physical simulation of an electric shovel according to the present invention. In this example, the target simulation system for realizing semi-physical simulation of an electric shovel includes the following modules:

[0078] S1: an electric shovel semi-physical simulation platform construction module, which is used to design and establish an electric shovel semi-physical simulation platform through an actual electric shovel structure, position sensor, mechanical sensor, attitude sensor, actuator and virtual simulation control system, wherein the electric shovel semi-physical simulation platform includes an electric shovel semi-physical operation connection control panel constructed by connecting the actual electric shovel structure, position sensor, mechanical sensor, attitude sensor and actuator, and an electric shovel semi-physical physical simulation model modeled by combining the actual electric shovel structure and the virtual simulation control system, wherein the position sensor, mechanical sensor, attitude sensor and actuator are also implicitly connected to the virtual simulation control system;

[0079] In the embodiment of the present invention, the functional requirements analysis method is used to analyze the functional requirements of the corresponding actual electric shovel structure during the operation process to clarify the basic operating functions of the electric shovel structure, such as excavation, transportation, etc., and to investigate user needs and working environment characteristics, such as excavation depth, loading capacity, work efficiency, etc. At the same time, the operating characteristics of the actual electric shovel structure are analyzed by using the functional characteristics analysis method, including the stability of the mechanical structure, the durability of the power system, and the convenience of the operator, and the key parts and nodes of the electric shovel structure to be monitored are determined according to the functional requirements and operating characteristics obtained in the previous analysis. Secondly, by deploying position sensors, mechanical sensors and attitude sensors on the key parts and nodes determined previously, and connecting the entire actual electric shovel structure and the position sensors, mechanical sensors and attitude sensors deployed thereon with the actuator to construct a suitable electric shovel structure control panel for real-time monitoring and adjustment of the working state and efficiency of the electric shovel structure, then, by combining the virtual simulation control system and using computer simulation technology to perform physical structure simulation analysis on the corresponding actual electric shovel structure, the physical movement and working process of the electric shovel are simulated, so that the motion characteristics and stress conditions of the electric shovel under different working conditions can be accurately simulated, thereby obtaining a semi-physical simulation model of the electric shovel. The simulation platform is also integrated and constructed by integrating the semi-physical operation connection control panel of the electric shovel previously constructed and the semi-physical physical simulation model of the electric shovel obtained through simulation analysis to establish an electric shovel semi-physical simulation platform. At the same time, on this platform, position sensors, mechanical sensors, attitude sensors and actuators are implicitly connected to the virtual simulation control system to form a closed-loop feedback system to simulate the operation of the electric shovel and its response under different working conditions.

[0080] S2: an electric shovel target operation pre-setting execution module, which is used to restrict the target operation parameter conditions of the actual electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, so as to obtain the electric shovel structure operation target operation setting parameter restriction conditions; based on the electric shovel structure operation target operation setting parameter restriction conditions, the actuator is used to perform the electric shovel target operation execution processing on the actual electric shovel structure, so as to generate the electric shovel structure semi-physical target operation operation execution process;

[0081] In an embodiment of the present invention, the environmental scenarios of the actual electric shovel structure during the actual operation process are identified and analyzed to deeply analyze and understand the operation scenarios and conditions of the electric shovel structure under different working environments, which includes considering the specific circumstances in which the electric shovel is used for different tasks such as digging, loading, and transportation. At the same time, the task requirements of the actual electric shovel structure during the actual operation process are analyzed to determine the functions and performance standards that the electric shovel needs to achieve in different operation scenarios, which include requirements from digging capacity, loading efficiency to work accuracy and safety. The operation process target operation of the corresponding actual electric shovel structure is determined by combining the previously determined operation operation scenario and the operation task requirements to ensure that the electric shovel can achieve the expected effect and efficiency in the actual work. Then, the operation parameter conditions of the operation target operation determined by the analysis are restricted by using the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, so as to convert the actual operation target of the electric shovel into specific parameters and restriction conditions that can be processed by the simulation system, for example, the restriction conditions of the operation parameters such as the digging depth, bucket tilt angle, and loading speed of the electric shovel are set, so as to obtain the restriction conditions of the setting parameters of the operation target operation of the electric shovel structure. The target operation parameter setting constraints of the electric shovel structure operation obtained in the previous analysis are also applied to the actuator to execute the target operation of the electric shovel for the corresponding actual electric shovel structure. This step is actually to convey the setting parameters in the simulation system to the hydraulic system, engine control unit and other executive components of the electric shovel through the actual controller to achieve the operation target of the electric shovel in the simulation environment. For example, according to the parameter settings of the simulation, the excavation action and loading process of the electric shovel are controlled, and the parameter feedback in the actual operation is monitored to ensure that the electric shovel can perform the excavation and loading tasks as expected in the simulated operation, and finally generate the semi-physical target operation execution process of the electric shovel structure.

[0082] S3: A module for collecting target operation parameters of an electric shovel in real time, which is used to collect the target operation parameters of the electric shovel in real time during the execution process of the semi-physical target operation operation of the electric shovel structure through position sensors, mechanical sensors and posture sensors, so as to obtain the target operation position real-time parameters of the electric shovel, the target operation force real-time parameters of the electric shovel and the target operation posture real-time parameters of the electric shovel; and upload the target operation position real-time parameters of the electric shovel, the target operation force real-time parameters of the electric shovel and the target operation posture real-time parameters of the electric shovel to the semi-physical physical simulation model of the electric shovel;

[0083] In the embodiment of the present invention, the electric shovel operation parameters (including operation position, operation force and operation posture) are collected in real time during the execution process of the semi-physical target operation operation of the electric shovel structure by using position sensors, mechanical sensors and posture sensors, so as to obtain the position data of the electric shovel in real time by measuring the relative position between the sensor and the ground or other fixed reference points, and obtain the force parameters and posture parameters of the corresponding structure operation of the electric shovel structure when performing the target operation, so as to obtain the real-time parameters of the target operation operation position of the electric shovel, the real-time parameters of the target operation operation force of the electric shovel and the real-time parameters of the target operation operation posture of the electric shovel. Then, the real-time parameters of the target operation operation position of the electric shovel, the real-time parameters of the target operation operation force of the electric shovel and the real-time parameters of the target operation operation posture of the electric shovel monitored from each sensor are uploaded to the semi-physical simulation model of the electric shovel implicitly connected thereto, so as to integrate the various parameters collected in real time and input them into the simulation model for comprehensive analysis and target simulation, and ensure that the simulation system can accurately simulate the operation state and performance of the electric shovel under different operation conditions based on the actually collected data, so as to help optimize the actual operation strategy of the actual electric shovel structure.

[0084] S4: Target simulation feedback adjustment control optimization module, used to use the electric shovel semi-physical physical simulation model to perform target simulation feedback error adjustment analysis on the real-time parameters of the electric shovel's target operation position, the real-time parameters of the electric shovel's target operation force, and the real-time parameters of the electric shovel's target operation posture, and obtain the electric shovel semi-physical target simulation feedback error adjustment parameter set; based on the electric shovel semi-physical target simulation feedback error adjustment parameter set, the electric shovel semi-physical operation connection control panel dynamic response control actuator is used to perform target execution control optimization on the electric shovel structure semi-physical target operation operation execution process, so as to generate the electric shovel semi-physical target operation execution control optimization process.

[0085] In an embodiment of the present invention, the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel, and the real-time parameters of the target operation posture of the electric shovel uploaded from various sensors are used as input parameter conditions of the target simulation process, and the target operation simulation input parameter conditions of the electric shovel target operation operation are simulated by using a physical simulation model to simulate the operation performance of the electric shovel simulation model in the simulation space under different parameter conditions, and evaluate the deviation or error between the real-time operation parameters of the electric shovel in the actual operation of the target operation and the simulation in the simulation model, by comparing the real-time parameters of position, force and posture collected in the actual operation with the parameters predicted by the simulation model, An operation simulation feedback error set can be obtained. At the same time, when the operation simulation feedback error set between the corresponding electric shovel real-time operation and the target simulation process is obtained through analysis, the operation parameters with errors are adjusted accordingly to analyze the source and influencing factors of the errors, and the operation parameters (including operation position, operation force, operation posture and other parameters) of the electric shovel semi-physical target simulation process are adjusted according to the analysis results. For example, if the error mainly comes from the measurement accuracy of the sensor or the change of the excavation terrain, the engineer can adjust the sensor calibration method or improve the excavation strategy to reduce the influence of the error on the actual electric shovel operation, thereby obtaining the electric shovel semi-physical target simulation feedback error adjustment parameter set. Then, by combining the previously adjusted electric shovel semi-physical target simulation feedback error adjustment parameter set, the corresponding electric shovel semi-physical operation connection control panel is subjected to error response control, aiming to generate appropriate electric shovel structure operation error response control instructions to optimize the accuracy and efficiency of the electric shovel structure operation during actual operation, and by using the response control instructions generated by the response to dynamically respond to control the actuator implicitly connected to it to optimize the control of the target operation execution process of the corresponding electric shovel structure semi-physical target operation operation execution process, so as to monitor and adjust the operating parameters of the electric shovel, such as position, force and posture in real time to optimize the operation efficiency and accuracy of the electric shovel. For example, in excavation operations, the actuator can adjust the movement speed or force angle of the electric shovel according to the real-time control instructions to adapt to different geological conditions or excavation requirements, thereby realizing the optimization control process of the actual electric shovel structure when performing the target operation, and finally generating the electric shovel semi-physical target operation execution control optimization process.

[0086] Furthermore, the electric shovel semi-physical simulation platform construction module includes the following functions:

[0087] Analyze the operational function requirements and operational characteristics of the actual electric shovel structure to obtain the operational function requirement data and operational characteristic data of the electric shovel structure;

[0088] Based on the shovel structure operation function requirement data and shovel structure operation characteristic data, the key parts positioning analysis of the actual shovel structure is carried out to obtain the sensor positioning nodes of the key parts of the shovel structure control;

[0089] Position sensors, mechanical sensors and attitude sensors are deployed on the sensor positioning nodes of the key parts of the electric shovel structure control, and the actual electric shovel structure, position sensors, mechanical sensors, attitude sensors and actuators are connected to build a control panel to generate a semi-physical operation connection control panel of the electric shovel;

[0090] Based on the virtual simulation control system, the semi-physical simulation analysis of the actual electric shovel structure is carried out to obtain the semi-physical simulation model of the electric shovel;

[0091] The semi-physical operation connection control panel of the electric shovel and the semi-physical physical simulation model of the electric shovel are processed to build a simulation platform to establish a semi-physical simulation platform for the electric shovel, in which the position sensor, mechanical sensor, attitude sensor and actuator are also implicitly connected to the virtual simulation control system.

[0092] As an embodiment of the present invention, refer to Figure 2 As shown, Figure 1 The functional flow diagram of the semi-physical simulation platform construction module of the electric shovel is as follows. In this embodiment, the functions of the semi-physical simulation platform construction module of the electric shovel include:

[0093] S11: Analyze the operation function requirements and operation characteristics of the actual electric shovel structure to obtain the operation function requirement data of the electric shovel structure and the operation characteristic data of the electric shovel structure;

[0094] In the embodiment of the present invention, the functional requirements analysis method is used to analyze the functional requirements of the corresponding actual electric shovel structure during operation to clarify the basic operating functions of the electric shovel structure, such as excavation, transportation, etc., and by investigating user needs and working environment characteristics, the electric shovel structure operation function requirement data, such as excavation depth, loading capacity, work efficiency, etc., are obtained. At the same time, the operation characteristics of the actual electric shovel structure are analyzed by using the functional characteristic analysis method, including the stability of the mechanical structure, the durability of the power system, and the convenience of the operator. For example, if an electric shovel is designed for a large mine, the operation function requirements include a high degree of control over weight and speed, and the operation characteristics need to consider the fatigue resistance of the mechanical structure and the safety of the operator, and finally the electric shovel structure operation function requirement data and the electric shovel structure operation characteristic data are obtained.

[0095] S12: Based on the shovel structure operation function requirement data and the shovel structure operation characteristic data, the key parts positioning analysis of the actual shovel structure is performed to obtain the sensor positioning nodes of the key parts of the shovel structure control;

[0096] In an embodiment of the present invention, by combining the electric shovel structure operation function requirement data and the electric shovel structure operation characteristic data obtained by previous analysis, the key parts of the actual electric shovel structure in the operation process are positioned and processed to determine the key parts that affect the operation effect and safety of the electric shovel, such as the digging bucket, the shovel bucket, the hydraulic system, etc. By analyzing the role and relationship of these parts in the overall work, the positioning nodes to be monitored for the key parts of the electric shovel structure control can be determined. For example, in response to the needs of excavation depth and force control, the pressure sensor of the hydraulic system will be used as the key part sensing positioning node, and finally the key part sensing positioning node of the electric shovel structure control is located.

[0097] S13: Position sensors, mechanical sensors and attitude sensors are deployed on the sensor positioning nodes of the key parts of the electric shovel structure control, and the actual electric shovel structure, position sensors, mechanical sensors, attitude sensors and actuators are connected to build a control panel to generate a semi-physical operation connection control panel of the electric shovel;

[0098] In an embodiment of the present invention, position sensors, mechanical sensors and attitude sensors are deployed on the sensor positioning nodes of the key control parts of the electric shovel structure determined previously, and the entire actual electric shovel structure and the position sensors, mechanical sensors and attitude sensors deployed thereon are connected with the actuator to construct a suitable electric shovel structure control panel. The electric shovel semi-physical operation connection control panel generated by this process is used to monitor and adjust the working state and efficiency of the electric shovel structure in real time. For example, the position sensor can be used to monitor the digging depth of the electric shovel, the mechanical sensor is used to detect the load of the bucket, the attitude sensor is used to adjust the tilt angle of the bucket, and the actuator is used to execute the relevant operation instructions issued by the panel, and finally the electric shovel semi-physical operation connection control panel is generated.

[0099] S14: performing a semi-physical simulation analysis of the actual electric shovel structure based on the virtual simulation control system to obtain a semi-physical simulation model of the electric shovel;

[0100] In an embodiment of the present invention, a virtual simulation control system is combined with computer simulation technology to perform physical structural simulation analysis on the corresponding actual electric shovel structure to simulate the physical movement and working process of the electric shovel, so that the motion characteristics and stress conditions of the electric shovel under different working conditions can be accurately simulated, thereby helping to optimize the design and predict the performance in actual work. For example, the simulation process can simulate the power output of the electric shovel during excavation and the stress distribution of the mechanical structure, and finally obtain a semi-physical simulation model of the electric shovel.

[0101] S15: The semi-physical operation connection control panel of the electric shovel and the semi-physical physical simulation model of the electric shovel are processed to build a simulation platform to establish a semi-physical simulation platform of the electric shovel, wherein the position sensor, the mechanical sensor, the attitude sensor and the actuator are also implicitly connected with the virtual simulation control system.

[0102] In an embodiment of the present invention, a simulation platform is integrated and constructed by connecting and constructing a semi-physical operation connection control panel of an electric shovel previously constructed and a semi-physical physical simulation model of an electric shovel obtained through simulation analysis to establish a semi-physical simulation platform for an electric shovel. On this platform, position sensors, mechanical sensors, attitude sensors and actuators are implicitly connected to a virtual simulation control system to form a closed-loop feedback system. Such a platform can be used to verify the effectiveness and safety of the electric shovel design, optimize the control strategy and train operators. For example, the sensor feedback and actuator control can be adjusted in real time through the simulation platform to simulate the operation of the electric shovel and its response under different working conditions.

[0103] Furthermore, the locating analysis of key parts of the electric shovel structure of the actual electric shovel structure based on the electric shovel structure operation function requirement data and the electric shovel structure operation characteristic data includes:

[0104] Based on the shovel structure operation function requirement data, the structural parts required for the operation function of the actual shovel structure are identified and analyzed to obtain the structural parts required for the shovel operation function;

[0105] In an embodiment of the present invention, by combining the electric shovel structure operation function requirement data obtained by previous analysis, the structural parts required for the corresponding operation functions in the corresponding actual electric shovel structure are identified and analyzed, so as to comprehensively consider the core functions of the electric shovel, such as excavation, loading and unloading, etc., and to identify the key structural parts that affect the realization of these functions by analyzing the operation requirements of the electric shovel. For example, for a large-scale excavation electric shovel during the excavation process, its corresponding key structural parts include the bucket, bucket, hydraulic system and motor drive system. These parts must meet the design specifications and operation efficiency requirements while ensuring the normal operation of the electric shovel, and finally obtain the structural parts required for the operation function of the electric shovel.

[0106] Preferably, the operation characteristic data of the electric shovel structure are processed by operation mode division to obtain the structural operation characteristic data of the electric shovel structure in different operation modes;

[0107] In an embodiment of the present invention, the electric shovel structure operation characteristic data obtained by the previous analysis is divided into corresponding operation modes, so as to classify and analyze the operation characteristics of the electric shovel in different operation working modes. For example, the operation characteristics of the electric shovel in the excavation mode focus on the control of the excavation depth and the excavation speed; while in the loading mode, the focus is on the loading capacity and stability. This step can more accurately understand the working performance and strain of the electric shovel structure under various working conditions by dividing the different operation modes, and finally obtain the structural operation characteristic data of the electric shovel structure in different operation modes.

[0108] Preferably, the operational performance of the actual electric shovel structure is analyzed based on the structural operational characteristic data of the electric shovel structure under different operating modes, so as to obtain the structural actual operational dynamic characteristic performance data of the electric shovel structure under different operating modes;

[0109] In an embodiment of the present invention, the operational performance of the corresponding actual electric shovel structure is evaluated and analyzed by combining the structural operational characteristic data of the electric shovel structure under different operating modes obtained by previous division, so as to evaluate the dynamic characteristics and performance of the electric shovel structure in actual work, which involves the analysis of the operational response speed, accuracy and energy efficiency of the electric shovel in actual scenarios. For example, by real-time monitoring of the motion trajectory and power consumption changes of the electric shovel during excavation and loading, its energy efficiency performance under different operating modes can be quantified, and finally the structural actual operational dynamic characteristic performance data of the electric shovel structure under different operating modes can be obtained.

[0110] Preferably, an operational performance impact assessment and analysis is performed on the structural parts required for the electric shovel's operational function according to the actual operational dynamic characteristics performance data of the electric shovel structure under different operational modes, to obtain a performance impact score of the parts required for the electric shovel's operational function; and a key part screening process is performed on the structural parts required for the electric shovel's operational function based on the performance impact score of the parts required for the electric shovel's operational function, to obtain a key part for controlling the electric shovel's operational function;

[0111] In the embodiment of the present invention, the structural parts required for the operation function of the electric shovel are evaluated and analyzed by using the impact evaluation algorithm in combination with the performance data of the actual operation dynamic characteristics of the electric shovel structure under different operation modes obtained by previous analysis, so as to analyze and determine the contribution and influence degree of each key structural part on the overall performance under different operation modes. For example, by comparing the excavation efficiency and energy consumption of the electric shovel under different hydraulic system configurations, the influence degree of the hydraulic system on the excavation depth and speed of the electric shovel is evaluated and analyzed, so as to obtain the performance impact score value of the parts required for the operation function of the electric shovel. At the same time, by combining the performance impact score value of the parts required for the operation function of the electric shovel obtained by previous quantitative calculation and comparing with the corresponding preset impact threshold, the structural parts required for the operation function of the electric shovel corresponding to the preset impact threshold are selected as key parts, so as to select the key parts that are crucial to the operation function of the electric shovel from many structural parts. For example, if it is found in the operation performance impact evaluation that the performance of the hydraulic system has the greatest influence on the overall performance of the electric shovel, then the relevant components of the hydraulic system will be identified as key parts, which need to be monitored and optimized, and finally the key parts for controlling the operation function of the electric shovel are obtained.

[0112] Preferably, sensor monitoring and positioning nodes are designed for key parts of the electric shovel operation function control to obtain sensor positioning nodes for key parts of the electric shovel structure control.

[0113] In an embodiment of the present invention, the positioning of the sensor monitoring node is determined according to the monitoring coverage of the sensor to be installed and the state change range corresponding to the key parts of the electric shovel operation function control, so as to select the appropriate sensor type and installation position to ensure that the operating status and environmental changes of the key parts can be accurately and stably monitored. For example, for the key parts of the hydraulic system, pressure sensors and temperature sensors can be selected and installed on the hydraulic oil pipeline to monitor the working pressure and temperature changes of the hydraulic system in real time, and finally the sensor positioning nodes of the key parts of the electric shovel structure control are obtained.

[0114] Furthermore, the design of sensor monitoring and positioning nodes for key parts of the shovel operation function control includes:

[0115] Acquire sensors to be installed, where the sensors to be installed include position sensors, mechanical sensors, and attitude sensors, and perform initial sensor node design on key parts of the electric shovel operation function control based on the sensors to be installed, and obtain initial sensor node design for key parts of the electric shovel structure to be installed;

[0116] In an embodiment of the present invention, corresponding sensors to be installed are obtained, including position sensors, mechanical sensors and attitude sensors, and each sensor has different measurement capabilities and applicable scopes, and the corresponding key parts of the electric shovel operation function control are initially set up according to the corresponding applicable scopes of the sensors to be installed. For example, for the bucket part of the electric shovel, a position sensor can be installed to monitor the specific position and motion trajectory of the bucket; in the hydraulic system, the mechanical sensor can be used to monitor the pressure change of the hydraulic oil; and the attitude sensor can be used to detect the overall inclination angle and direction change of the electric shovel, and finally the initial sensor nodes to be installed at the key parts of the electric shovel structure are obtained.

[0117] Preferably, the range of motion state changes of the key parts of the electric shovel operation function control is monitored to obtain the range of motion state changes of the key parts of the electric shovel operation control;

[0118] In an embodiment of the present invention, the corresponding range of motion state changes of the key parts of the electric shovel operation function control previously determined during the operation execution process is monitored in real time to determine the motion state changes of the key parts in actual work. For example, for the bucket part of the electric shovel, it is necessary to monitor its motion range during the excavation and loading process, including changes in parameters such as the excavation depth and the bucket tilt angle, so as to analyze the working stability and accuracy of the electric shovel in different operation modes, and then optimize the arrangement of sensors and control strategies, and finally obtain the range of motion state changes of the key parts of the electric shovel operation control.

[0119] Preferably, the monitoring coverage range of the sensors to be installed on the initial sensor nodes to be installed at the key parts of the electric shovel structure is analyzed to obtain the size of the monitoring coverage range of the initial sensor nodes at the key parts;

[0120] In an embodiment of the present invention, the monitoring coverage range of the sensors to be installed corresponding to the initial sensor nodes to be installed at the key parts of the electric shovel structure previously determined is identified and analyzed to evaluate the monitoring coverage capability and effective range of each sensor. For example, for the position sensor installed in the bucket, it is necessary to analyze whether it can cover the movement trajectory of the entire bucket and ensure that the position information can be monitored stably and accurately under different working modes of the electric shovel. Finally, the monitoring coverage range of the initial sensor nodes at the key parts is evaluated.

[0121] Preferably, based on the range of motion state changes of key parts of the shovel operation control and the monitoring coverage of the key parts of the initial sensor nodes, the node positions of the initial sensor nodes to be installed in the key parts of the shovel structure are optimized to obtain the sensor positioning nodes of the key parts of the shovel structure control.

[0122] In an embodiment of the present invention, by combining the previously determined range of motion state changes of key parts of the shovel operation control and the monitoring coverage range of the key parts sensor initial nodes, the sensor deployment position or the number of sensors on the sensor initial nodes to be installed at the key parts of the corresponding shovel structure are optimized to ensure that the position of the sensor can maximize the coverage of the motion change range of the key parts and ensure the accuracy and stability of the monitoring data. For example, if it is found in the motion state monitoring that the motion range of the hydraulic system is large, then when arranging position sensors around the key parts of the hydraulic system, it is necessary to consider its ability to cover the entire motion of the hydraulic system, such as by moving the deployment position of the sensor or increasing the number of deployed sensors to avoid monitoring blind spots or data drift problems, thereby ensuring accurate monitoring and control of key parts in the shovel operation, thereby obtaining the final sensor positioning node, and finally obtaining the sensor positioning node of the key part of the shovel structure control.

[0123] Furthermore, the semi-physical simulation analysis of the actual electric shovel structure based on the virtual simulation control system includes the following steps:

[0124] The actual electric shovel structure is analyzed to obtain the components of the electric shovel mechanical structure and the components of the electric shovel power system;

[0125] In an embodiment of the present invention, the components of the actual electric shovel structure are identified and analyzed to gain an in-depth understanding of the mechanical and power system composition of the actual electric shovel, so that subsequent simulation modeling and analysis can be performed based on accurate structural information. In terms of the mechanical structure of the electric shovel, it includes components such as a bucket, a boom, and a hydraulic cylinder. Each component plays an important role in the overall function and operation of the electric shovel. For example, the hydraulic cylinder is the key driving device for the movement of the electric shovel, and the bucket is responsible for loading and unloading earth and stone materials. The power system of the electric shovel involves an engine, a hydraulic pump, a transmission system, etc. These components work together to transmit and control the power of the electric shovel, and ultimately the components of the mechanical structure of the electric shovel and the components of the power system of the electric shovel are obtained.

[0126] Preferably, based on the components of the electric shovel mechanical structure and the components of the electric shovel power system, a virtual simulation modeling tool is used to perform physical simulation modeling of the electric shovel structure on the actual electric shovel structure to generate a physical virtual simulation model of the electric shovel structure;

[0127] In an embodiment of the present invention, a virtual simulation modeling tool is used to perform simulation modeling of the electric shovel structure on the corresponding actual electric shovel structure by combining the components of the electric shovel mechanical structure and the components of the electric shovel power system obtained by previous analysis, so as to accurately reproduce the structural characteristics and operation mechanism of the electric shovel through virtual modeling, thereby generating a simulation model of the electric shovel structure. For example, a three-dimensional model of the electric shovel can be established through CAD software, and the position, size and connection method of each key component can be identified in the model to ensure the accuracy and authenticity of the simulation model, and finally a physical virtual simulation model of the electric shovel structure is generated.

[0128] Preferably, the kinematics simulation design of the electric shovel structure physical virtual simulation model is performed based on the virtual simulation control system to obtain the kinematics simulation conditions of the electric shovel structure physical model;

[0129] In an embodiment of the present invention, a kinematic simulation analysis is performed on a previously constructed physical virtual simulation model of an electric shovel structure by using a virtual simulation control system to simulate and design kinematic parameters such as the position, velocity, and acceleration of each component of the electric shovel during movement. For example, the swing angle of the boom, the lowering speed of the bucket, and the stability of the overall mechanism during excavation of the electric shovel can be simulated to evaluate the motion performance of the electric shovel and the working state of the mechanism under different working conditions, and finally obtain the corresponding kinematic simulation conditions of the physical model of the electric shovel structure.

[0130] Preferably, the electric shovel structure physical virtual simulation model is subjected to an electric shovel dynamics simulation design based on the virtual simulation control system to obtain the dynamics simulation conditions of the electric shovel structure physical model;

[0131] In an embodiment of the present invention, a virtual simulation control system is similarly used to perform dynamic simulation analysis on the previously constructed physical virtual simulation model of the electric shovel structure to simulate the dynamic characteristics such as force, torque and power transmission efficiency that the designed electric shovel is subjected to during movement. For example, it can analyze the pressure changes of the hydraulic system of the electric shovel during the excavation process, the engine output power and the carrying capacity of each hydraulic cylinder to determine the working efficiency and energy utilization of the physical model, and finally obtain the dynamic simulation conditions of the physical model of the electric shovel structure.

[0132] Preferably, the electric shovel structure physical virtual simulation model is subjected to electric shovel semi-physical simulation control analysis according to the kinematic simulation conditions of the electric shovel structure physical model and the dynamic simulation conditions of the electric shovel structure physical model to obtain the electric shovel semi-physical physical simulation model.

[0133] In an embodiment of the present invention, the control processing of the electric shovel simulation model is performed on the corresponding shovel structure physical virtual simulation model by combining the kinematic simulation conditions of the shovel structure physical model obtained by previous simulation and the dynamic simulation conditions of the electric shovel structure physical model, so as to combine the virtual simulation model with the actual control system, and verify the effectiveness and accuracy of the simulation model through experiments and tests. For example, the actual hydraulic system and sensor equipment can be used to interface with the simulation model, and the data of the electric shovel during operation can be obtained in real time, and compared with the simulation model to verify the authenticity and practicality of the simulation model, so that the simulation model constructed by the simulation can have corresponding kinematic and dynamic characteristics, and finally a semi-physical simulation model of the electric shovel is obtained.

[0134] Furthermore, the electric shovel target operation pre-setting execution module includes the following functions:

[0135] Analyze the actual operation scenario of the actual electric shovel structure to obtain the actual operation scenario of the electric shovel structure;

[0136] Analyze the task requirements of the actual electric shovel structure to obtain the actual operation task requirements of the electric shovel structure;

[0137] Based on the actual operation scenario of the electric shovel structure and the actual operation task requirements of the electric shovel structure, the electric shovel operation target is determined for the actual electric shovel structure to obtain the actual operation target operation of the electric shovel structure;

[0138] The target operation parameter condition restriction is performed on the target operation of the electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, so as to obtain the setting parameter restriction condition of the target operation of the electric shovel structure operation;

[0139] Based on the parameter restriction conditions of the target operation of the electric shovel structure, the actuator is used to perform the target operation execution processing of the electric shovel structure to generate the semi-physical target operation execution process of the electric shovel structure.

[0140] As an embodiment of the present invention, refer to Figure 3 As shown, Figure 1 The function flow diagram of the electric shovel target operation pre-setting execution module is as follows. In this embodiment, the functions of the electric shovel target operation pre-setting execution module include:

[0141] S21: analyzing the actual operation scenario of the actual electric shovel structure to obtain the actual operation scenario of the electric shovel structure;

[0142] In an embodiment of the present invention, by identifying and analyzing the environmental scenarios of the actual electric shovel structure during the actual operation process, the operation scenarios and conditions of the electric shovel structure in different working environments are deeply analyzed and understood, including considering the specific circumstances of the electric shovel for different tasks such as excavation, loading, and transportation, such as the application in mines, construction sites or other industrial sites. Through field visits to the site and observation of operation examples, the terrain, material types, space limitations and other factors faced by the electric shovel in actual operation can be understood, and finally the actual operation scene of the electric shovel structure is obtained.

[0143] S22: Analyze the task requirements of the actual electric shovel structure to obtain the actual operation task requirements of the electric shovel structure;

[0144] In an embodiment of the present invention, a statistical analysis is performed on the task requirements of an actual electric shovel structure during actual operation to determine the functions and performance standards that the electric shovel needs to achieve in different operation scenarios, including requirements in various aspects ranging from digging capability, loading efficiency to working accuracy and safety. For example, for a construction site, the electric shovel structure needs to have the ability to dig quickly and load efficiently, while ensuring flexibility and operating accuracy in a small space, and ultimately obtaining the actual operation task requirements of the electric shovel structure.

[0145] S23: determining an electric shovel operation target for the actual electric shovel structure based on the actual operation scenario of the electric shovel structure and the actual operation task requirements of the electric shovel structure, so as to obtain an actual operation target operation of the electric shovel structure;

[0146] In an embodiment of the present invention, the target operation of the operation process of the corresponding actual electric shovel structure is determined by combining the actual operation operation scenario of the electric shovel structure determined previously and the actual operation task requirements of the electric shovel structure, so as to ensure that the electric shovel can achieve the expected effect and efficiency in actual work. This step involves determining the working objectives of the electric shovel under specific operating conditions, such as ensuring that a certain number of loading tasks are completed within a specified time or achieving the best excavation effect under limited terrain conditions. For example, in order to improve the excavation efficiency, the electric shovel can be set to complete a specific volume of earth and stone excavation and loading tasks within one hour, and finally the actual operation target operation of the electric shovel structure is obtained.

[0147] S24: restricting target operation parameter conditions of the actual operation target operation of the electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, so as to obtain the setting parameter restriction conditions of the electric shovel structure operation target operation;

[0148] In an embodiment of the present invention, the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform is used to restrict the operating parameter conditions of the actual operating target operation of the electric shovel structure obtained by analysis, so as to convert the actual operating target of the electric shovel into specific parameters and restriction conditions that can be processed by the simulation system. For example, restriction conditions of operating parameters such as the digging depth of the electric shovel, the tilt angle of the bucket, and the loading speed are set to ensure that the simulation model can accurately reflect the execution status of the actual operation during the simulation process, and finally obtain the setting parameter restriction conditions of the electric shovel structure operation target operation.

[0149] S25: Based on the shovel structure operation target operation setting parameter restriction conditions, the shovel target operation execution processing is performed on the actual shovel structure by using the actuator to generate the shovel structure semi-physical target operation execution process.

[0150] In an embodiment of the present invention, the parameter restriction conditions for the target operation of the electric shovel structure obtained by combining the previous analysis are applied to the actuator to perform the target operation of the electric shovel on the corresponding actual electric shovel structure. This step is actually to convey the setting parameters in the simulation system to the hydraulic system, engine control unit and other execution components of the electric shovel through the actual controller to achieve the operation target of the electric shovel in the simulation environment. For example, according to the parameter settings of the simulation, the excavation action and loading process of the electric shovel are controlled, and the parameter feedback in the actual operation is monitored to ensure that the electric shovel can perform the excavation and loading tasks as expected in the simulation operation, and finally generate the semi-physical target operation execution process of the electric shovel structure.

[0151] Furthermore, the target operation parameter condition restriction on the actual operation target operation of the electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform includes:

[0152] The excavation depth of the actual operation target operation of the electric shovel structure is controlled and set by connecting the control panel of the electric shovel semi-physical operation in the electric shovel semi-physical simulation platform, and the excavation depth of the target operation operation of the electric shovel structure is obtained;

[0153] In an embodiment of the present invention, the excavation depth control setting of the actual operation target operation of the electric shovel structure previously determined is performed by using the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, which is a key step to ensure that the electric shovel can accurately simulate the excavation depth in the simulation environment. First, the operator sets the excavation depth parameters of the electric shovel through the control panel, usually in meters or centimeters, so as to accurately simulate the excavation of different depths of the electric shovel during the simulation process. For example, if the simulation needs to simulate the excavation operation of the electric shovel in an underground mine, the operator can set the excavation depth to a certain depth each time the excavation is carried out to evaluate the efficiency and safety of the electric shovel when working in the underground mine area, and finally set the excavation depth of the target operation operation of the electric shovel structure.

[0154] Preferably, the excavation speed control setting is performed on the target operation of the electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform to obtain the target operation excavation speed of the electric shovel structure operation;

[0155] In an embodiment of the present invention, the excavation speed of the actual operation target operation of the electric shovel structure previously determined is controlled and set by using the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, in order to determine the speed parameters of the electric shovel during the excavation operation in the simulation environment. The operator adjusts the speed setting options on the control panel, such as setting the excavation speed of the electric shovel per minute or per hour. Such settings allow the simulation system to simulate the changes in the excavation speed of the electric shovel under different working conditions, thereby evaluating its energy consumption, efficiency and excavation quality at different speeds. For example, in a construction site, the actual electric shovel structure needs to increase the excavation speed as much as possible while ensuring safety to meet the loading requirements of the construction site, and finally obtain the excavation speed of the electric shovel structure operation target operation.

[0156] Preferably, based on the excavation depth of the electric shovel structure operation target operation and the excavation speed of the electric shovel structure operation target operation, an excavation parameter condition restriction analysis is performed on the electric shovel structure actual operation target operation to obtain the electric shovel structure operation target excavation parameter restriction condition;

[0157] In an embodiment of the present invention, the excavation parameter condition restriction analysis is performed on the corresponding actual operation target operation of the electric shovel structure by combining the target excavation depth of the electric shovel structure operation and the target excavation speed of the electric shovel structure operation obtained by previous control settings, so as to combine the excavation depth and speed settings to form a comprehensive restriction condition for the electric shovel excavation operation. For example, if a larger excavation depth and a higher excavation speed are set, it may be necessary to perform a higher load capacity assessment on the hydraulic system and power transmission system of the electric shovel to ensure that the reliability and safety range of the actual work is not exceeded in the simulation operation, and finally the target excavation parameter restriction condition of the electric shovel structure operation is obtained.

[0158] Preferably, the steering angle control setting is performed on the actual operation target operation of the electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform to obtain the steering angle of the electric shovel structure operation target operation;

[0159] In an embodiment of the present invention, the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform is used to control and set the corresponding electric shovel structure steering angle for the actual operation target operation of the electric shovel structure previously determined, so as to ensure that the electric shovel can accurately simulate the steering angle in the simulation environment. The operator can set the angle range and change speed of the electric shovel steering through the control panel to simulate the steering action of the electric shovel in the actual operation. For example, if the simulation needs to evaluate the turning ability of the electric shovel in a narrow space, the operator can set the steering angle to the maximum and minimum values ​​within a specific range to ensure that the simulation system can accurately simulate these complex operation scenarios and finally obtain the steering angle of the electric shovel structure operation target operation.

[0160] Preferably, based on the steering angle of the electric shovel structure operation target operation, a steering power parameter condition restriction analysis is performed on the electric shovel structure actual operation target operation to obtain the electric shovel structure operation target steering power parameter restriction condition;

[0161] In an embodiment of the present invention, by combining the steering angle of the electric shovel structure operation target operation previously set, the corresponding electric shovel structure actual operation target operation is subjected to a steering power parameter condition restriction analysis. The purpose of this step is to evaluate the power transmission capacity and system response speed required for the electric shovel steering by analyzing the set steering angle requirements. For example, when the electric shovel is required to turn quickly in a narrow channel, it is necessary to adjust the response speed and steering power output of the hydraulic system to ensure that the set steering angle is achieved in the simulation operation and the smoothness and accuracy of the operation are maintained, and finally the electric shovel structure operation target steering power parameter restriction conditions are obtained.

[0162] Preferably, the target excavation parameter restriction conditions of the electric shovel structure operation and the target steering power parameter restriction conditions of the electric shovel structure operation are combined to obtain the target operation setting parameter restriction conditions of the electric shovel structure operation.

[0163] In an embodiment of the present invention, by merging the previously determined target excavation parameter constraints of the electric shovel structure operation and the target steering power parameter constraints of the electric shovel structure operation, this step ensures that all set operating parameters can be effectively coordinated and executed in the simulation environment to achieve the operating goals of the electric shovel. For example, by merging the constraints of digging depth, digging speed and steering angle, the diversified operating requirements of the electric shovel in complex working scenarios can be effectively simulated in the simulation, and reliable reference and optimization suggestions can be provided for actual engineering operations, and finally the target operation setting parameter constraints of the electric shovel structure operation are obtained.

[0164] Furthermore, the real-time acquisition module of the target operating parameters of the electric shovel includes the following functions:

[0165] The position sensor is used to collect the real-time operation position of the electric shovel during the execution of the semi-physical target operation operation of the electric shovel structure, so as to obtain the real-time parameters of the target operation position of the electric shovel;

[0166] In an embodiment of the present invention, the operating position of the electric shovel is collected in real time during the execution process of the semi-physical target operation of the electric shovel structure by using a position sensor, wherein the position sensor is usually installed at a key part of the electric shovel, such as a bucket arm, a bucket arm joint or a frame, and the position data of the electric shovel is acquired in real time by measuring the relative position between the sensor and the ground or other fixed reference points. For example, assuming that the electric shovel is in a mining operation, the position sensor can record the real-time position of the electric shovel relative to the working surface after each excavation, and finally obtain the real-time parameters of the target operation position of the electric shovel.

[0167] Preferably, the shovel operation force is collected in real time during the execution of the semi-physical target operation operation of the shovel structure by a mechanical sensor to obtain the real-time parameters of the shovel target operation force;

[0168] In an embodiment of the present invention, a mechanical sensor is used to collect the operating force of the electric shovel in real time during the execution process of the semi-physical target operation operation of the electric shovel structure, aiming to obtain the force parameters of the corresponding structure operation of the electric shovel structure when performing the target operation, wherein the mechanical sensor is usually installed on the arm, bucket or hydraulic cylinder of the electric shovel, and is used to monitor and record the force applied by the electric shovel during the excavation or loading process. For example, assuming that the electric shovel is performing earthwork engineering, the mechanical sensor can measure the force applied by the arm of the electric shovel on the soil in real time to help the operator adjust the excavation depth or optimize the loading strategy, and finally obtain the real-time parameters of the operating force of the electric shovel target operation.

[0169] Preferably, the electric shovel operation posture is collected in real time during the execution process of the semi-physical target operation operation of the electric shovel structure by a posture sensor to obtain the real-time parameters of the electric shovel target operation posture;

[0170] In an embodiment of the present invention, a posture sensor is used to collect the operating posture of the electric shovel in real time during the execution process of the semi-physical target operation of the corresponding electric shovel structure, so as to obtain the posture parameters of the corresponding structure operation of the electric shovel structure when performing the target operation, wherein the posture sensor is installed at a key position of the electric shovel, such as the connection between the bucket or the boom, and is used to monitor the inclination angle, rotation angle or other posture changes of the electric shovel. For example, in a mine excavation operation, the posture sensor can record the inclination angle of the boom of the electric shovel to evaluate the stability and operational safety of the electric shovel at different excavation depths, and finally obtain the real-time parameters of the target operation posture of the electric shovel.

[0171] Preferably, the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel and the real-time parameters of the target operation posture of the electric shovel are uploaded to the semi-physical simulation model of the electric shovel.

[0172] In an embodiment of the present invention, the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel, and the real-time parameters of the target operation posture of the electric shovel monitored from various sensors are uploaded to the semi-physical simulation model of the electric shovel implicitly connected thereto, in order to integrate the various parameters collected in real time and input them into the simulation model for comprehensive analysis and target simulation. This step ensures that the simulation system can accurately simulate the operating status and performance of the electric shovel under different operating conditions based on the actual collected data. For example, using the position, force and posture parameters collected in real time, the simulation model can simulate the operating response of the electric shovel under various terrains and working conditions, thereby helping to optimize the actual operating strategy of the actual electric shovel structure.

[0173] Furthermore, the target simulation feedback adjustment control optimization module includes the following functions:

[0174] By taking the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel and the real-time parameters of the target operation posture of the electric shovel as the target operation operation simulation input parameter conditions of the electric shovel, and using the electric shovel semi-physical physical simulation model to perform target operation simulation processing on the target operation simulation input parameter conditions of the electric shovel, a semi-physical target operation operation simulation process model of the electric shovel is obtained;

[0175] In the embodiment of the present invention, the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel, and the real-time parameters of the target operation posture of the electric shovel uploaded from each sensor are used as the input parameter conditions of the target simulation process, thereby obtaining the input parameter conditions of the target operation simulation of the electric shovel. At the same time, the target operation simulation processing of the input parameter conditions of the target operation simulation of the electric shovel is performed by using a physical simulation model to simulate the operation performance of the electric shovel simulation model in the simulation space under different parameter conditions, and finally obtain the semi-physical target operation simulation process model of the electric shovel.

[0176] Preferably, based on the electric shovel semi-physical target operation operation simulation process model, a target simulation feedback error statistical analysis is performed on the electric shovel target operation operation position real-time parameters, the electric shovel target operation operation force real-time parameters and the electric shovel target operation operation posture real-time parameters to obtain an operation simulation feedback error set between the electric shovel real-time operation and the target simulation process;

[0177] In an embodiment of the present invention, by combining the electric shovel semi-physical target operation operation simulation process model obtained by previous simulation, the feedback error statistics of the target simulation are calculated for the corresponding input electric shovel target operation operation position real-time parameters, electric shovel target operation operation force real-time parameters and electric shovel target operation operation posture real-time parameters, so as to evaluate the deviation or error between the real-time operation parameters of the electric shovel in the actual operation of the calculated target operation and when simulated in the simulation model. By comparing the real-time parameters of position, force and posture collected in the actual operation with the parameters predicted by the simulation model, an operation simulation feedback error set can be obtained. For example, if the simulation model predicts that the excavation depth of the electric shovel under specific conditions deviates from that in the actual operation, these errors will be recorded and analyzed to help adjust the model accuracy and improve the accuracy of the real-time operation, and finally an operation simulation feedback error set between the real-time operation of the electric shovel and the target simulation process is obtained.

[0178] Preferably, an error adjustment analysis is performed on an operation simulation feedback error set between the real-time operation of the electric shovel and the target simulation process to obtain an error adjustment parameter set for semi-physical target simulation feedback of the electric shovel;

[0179] In an embodiment of the present invention, when the operation simulation feedback error set between the corresponding electric shovel real-time operation and the target simulation process is obtained through analysis, the operation parameters with errors are adjusted accordingly to analyze the source and influencing factors of the errors, and the operation parameters (including parameters such as operation position, operation force and operation posture) in the semi-physical target simulation process of the electric shovel are adjusted according to the analysis results. For example, if the error mainly comes from the measurement accuracy of the sensor or the change of the excavation terrain, the engineer can adjust the calibration method of the sensor or improve the excavation strategy to reduce the impact of the error on the actual electric shovel operation, and finally obtain the electric shovel semi-physical target simulation feedback error adjustment parameter set.

[0180] Preferably, error response control is performed on the electric shovel semi-physical operation connection control panel based on the electric shovel semi-physical target simulation feedback error adjustment parameter set to generate an electric shovel structure semi-physical target operation error response control instruction;

[0181] In an embodiment of the present invention, error response control is performed on the corresponding electric shovel semi-physical operation connection control panel by combining the electric shovel semi-physical target simulation feedback error adjustment parameter set obtained by previous adjustment. This step aims to generate appropriate electric shovel structural operation error response control instructions to optimize the accuracy and efficiency of the structural operation of the electric shovel during actual operation. For example, according to the real-time error adjustment parameters, the control panel can automatically adjust the digging depth or posture stability of the electric shovel to ensure that the electric shovel is as close as possible to the expected simulation model effect in actual operation, and finally generate the electric shovel structural semi-physical target operation error response control instructions.

[0182] Preferably, the electric shovel structure semi-physical target operation error response control instruction dynamic response control actuator is used to perform target execution control optimization on the electric shovel structure semi-physical target operation operation execution process to generate the electric shovel semi-physical target operation execution control optimization process.

[0183] In an embodiment of the present invention, the semi-physical target operation error response control instruction of the electric shovel structure generated by the dynamic response control is used to control the actuator implicitly connected thereto to optimize the control of the target operation execution process of the corresponding semi-physical target operation operation execution process of the electric shovel structure, so as to monitor and adjust the operating parameters of the electric shovel, such as position, force and posture in real time, to optimize the operation efficiency and accuracy of the electric shovel. For example, in the excavation operation, the actuator can adjust the movement speed or force angle of the electric shovel according to the real-time control instruction to adapt to different geological conditions or excavation requirements, thereby realizing the optimization control process of the structure operation of the actual electric shovel structure when performing the target operation, and finally generating the electric shovel semi-physical target operation execution control optimization process.

[0184] Furthermore, the target simulation feedback error statistical analysis of the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel, and the real-time parameters of the target operation posture of the electric shovel based on the semi-physical target operation operation simulation process model of the electric shovel includes:

[0185] Conduct target parameter simulation feedback analysis on the electric shovel semi-physical target operation operation simulation process model to obtain the electric shovel model target operation operation position simulation feedback parameters, the electric shovel model target operation operation force simulation feedback parameters and the electric shovel model target operation operation posture simulation feedback parameters;

[0186] In an embodiment of the present invention, a target parameter simulation feedback analysis is performed on a semi-physical target operation operation simulation process model of an electric shovel obtained after a target simulation, so as to obtain the actual simulation feedback parameters of the corresponding simulation model under the input conditions. These parameters include the operation position simulation feedback parameters, operation force simulation feedback parameters and operation posture simulation feedback parameters of the electric shovel model. For example, assuming that the electric shovel is excavating ore, the simulation feedback parameters may include the expected excavation depth, excavation speed and tilt angle of the bucket. These parameters are calculated by the simulation model and used for comparison and analysis with the real-time parameters in the actual operation to evaluate the accuracy of the operation and the predictive ability of the model, and finally the target operation operation position simulation feedback parameters, the target operation operation force simulation feedback parameters and the target operation operation posture simulation feedback parameters of the electric shovel model are obtained.

[0187] Preferably, an operation position target simulation error analysis is performed between the target operation position simulation feedback parameter of the electric shovel model and the target operation position real-time parameter of the electric shovel to obtain an operation position error value between the real-time operation of the electric shovel and the target simulation process;

[0188] In an embodiment of the present invention, after obtaining the simulated feedback parameters of the target operation position of the electric shovel model, the corresponding error statistical method is used to compare and quantify the parameters with the real-time parameters of the target operation position of the electric shovel, so as to evaluate and calculate the position deviation between the real-time operation of the electric shovel and the target simulation process. For example, if the simulation model predicts that the electric shovel should dig at a specific position, but it deviates slightly from the position measured by the sensor in the actual operation, these deviation values ​​will be recorded and analyzed to determine the necessity of adjusting the model or operation strategy, so that the position deviation in the actual operation process can be adjusted according to the deviation of the target simulation operation position, and finally the operation position error value between the real-time operation of the electric shovel and the target simulation process is obtained.

[0189] Preferably, an operation force target simulation error analysis is performed between the target operation force simulation feedback parameter of the electric shovel model and the target operation force real-time parameter of the electric shovel to obtain an operation force error value between the real-time operation of the electric shovel and the target simulation process;

[0190] In an embodiment of the present invention, the error between the simulated feedback parameters of the target operation force of the electric shovel model and the real-time parameters of the target operation force of the electric shovel are statistically calculated by using an error statistics method, so as to quantify the difference between the force applied by the electric shovel during the excavation or transportation process and the expected simulated force. For example, the simulated feedback parameters include the expected force size and direction, while the real-time parameters reflect the output of the force-applying device in actual operation. By analyzing these errors, engineers can optimize the motion control system of the actual electric shovel structure during operation to ensure the accuracy and efficiency of the actual operation process of the electric shovel, and finally obtain the operation force error value between the real-time operation of the electric shovel and the target simulation process.

[0191] Preferably, an operation attitude target simulation error analysis is performed between the target operation attitude simulation feedback parameters of the electric shovel model and the target operation attitude real-time parameters of the electric shovel to obtain an operation attitude error value between the real-time operation of the electric shovel and the target simulation process;

[0192] In an embodiment of the present invention, the error between the simulated feedback parameters of the target operating posture of the electric shovel model and the real-time parameters of the target operating posture of the electric shovel is statistically calculated by using an error statistics method, so as to quantify the difference between the posture stability of the electric shovel during excavation or movement and the model prediction. For example, the simulation model predicts the inclination angle of the electric shovel bucket or the stability of the overall structure, while in actual operation it will be affected by changes in terrain or load, resulting in a slight deviation in posture. By analyzing these errors, the posture adjustment strategy of the control system can be improved, thereby improving the operational reliability of the electric shovel in a complex environment, and finally obtaining the operating posture error value between the real-time operation of the electric shovel and the target simulation process.

[0193] Preferably, the operating position error value, operating force error value and operating posture error value between the real-time operation of the electric shovel and the target simulation process are merged to obtain an operation simulation feedback error set between the real-time operation of the electric shovel and the target simulation process.

[0194] In an embodiment of the present invention, the operating position error value, operating force error value and operating posture error value between the real-time operation of the electric shovel and the target simulation process obtained by the previous error statistics calculation are merged to comprehensively evaluate the overall error situation between the real-time operation of the electric shovel and the simulation prediction, thereby forming an operation simulation feedback error set. For example, if it is found that the errors in position, force and posture between the actual operation and the target simulation process are large, engineers can comprehensively consider adjusting the actual electric shovel structure operating parameters, improving the sensor accuracy or optimizing the control algorithm to improve the accuracy and efficiency of the electric shovel operation, and finally obtain the operation simulation feedback error set between the real-time operation of the electric shovel and the target simulation process.

[0195] Therefore, the embodiments should be regarded as illustrative and non-restrictive from all points, and the scope of the present invention is limited by the appended claims rather than the above description, and it is therefore intended that all changes falling within the meaning and range of equivalent elements of the application documents are included in the present invention.

[0196] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A target simulation system for realizing semi-physical simulation of electric shovel, characterized in that: Includes the following modules: The electric shovel semi-physical simulation platform construction module is used to design and establish the electric shovel semi-physical simulation platform through the actual electric shovel structure, position sensor, mechanical sensor, posture sensor, actuator and virtual simulation control system, wherein the electric shovel semi-physical simulation platform includes an electric shovel semi-physical operation connection control panel constructed by connecting the actual electric shovel structure, position sensor, mechanical sensor, posture sensor and actuator, and an electric shovel semi-physical physical simulation model modeled by combining the actual electric shovel structure and the virtual simulation control system, wherein the position sensor, mechanical sensor, posture sensor and actuator are also implicitly connected to the virtual simulation control system; wherein the electric shovel semi-physical simulation platform construction module includes the following functions: Analyze the operational function requirements and operational characteristics of the actual electric shovel structure to obtain the operational function requirement data and operational characteristic data of the electric shovel structure; Based on the shovel structure operation function requirement data and shovel structure operation characteristic data, the key parts positioning analysis of the actual shovel structure is carried out to obtain the sensor positioning nodes of the key parts of the shovel structure control; including: Based on the shovel structure operation function requirement data, the structural parts required for the operation function of the actual shovel structure are identified and analyzed to obtain the structural parts required for the shovel operation function; The operation characteristic data of the electric shovel structure are processed by dividing the operation modes to obtain the structural operation characteristic data of the electric shovel structure under different operation modes; Based on the structural operation characteristic data of the electric shovel structure in different operation modes, the operation performance performance of the actual electric shovel structure is analyzed to obtain the actual structural operation dynamic characteristic performance data of the electric shovel structure in different operation modes; According to the actual operation dynamic characteristics performance data of the electric shovel structure under different operation modes, the operation performance impact evaluation and analysis of the structural parts required for the electric shovel operation function is carried out to obtain the performance impact score of the parts required for the electric shovel operation function; based on the performance impact score of the parts required for the electric shovel operation function, the key parts of the structural parts required for the electric shovel operation function are screened and processed to obtain the key parts for the electric shovel operation function control; The sensor monitoring and positioning nodes of the key parts of the shovel operation function control are designed to obtain the sensor positioning nodes of the key parts of the shovel structure control; including: Acquire sensors to be installed, where the sensors to be installed include position sensors, mechanical sensors, and attitude sensors, and perform initial sensor node design on key parts of the electric shovel operation function control based on the sensors to be installed, and obtain initial sensor node design for key parts of the electric shovel structure to be installed; Monitor the range of motion state changes of key parts of the shovel operation function control to obtain the range of motion state changes of key parts of the shovel operation control; Analyze the monitoring coverage of the sensors to be installed on the initial sensor nodes to be installed at the key parts of the shovel structure, and obtain the monitoring coverage size of the initial sensor nodes at the key parts; Based on the range of motion state changes of key parts of the shovel operation control and the monitoring coverage of the key parts of the initial sensor nodes, the node positions of the key parts of the shovel structure to be installed are optimized to obtain the sensor positioning nodes of the key parts of the shovel structure control; Position sensors, mechanical sensors and attitude sensors are deployed on the sensor positioning nodes of the key parts of the electric shovel structure control, and the actual electric shovel structure, position sensors, mechanical sensors, attitude sensors and actuators are connected to build a control panel to generate a semi-physical operation connection control panel of the electric shovel; Based on the virtual simulation control system, the semi-physical simulation analysis of the actual electric shovel structure is carried out to obtain the semi-physical simulation model of the electric shovel; The semi-physical operation of the electric shovel is connected to the control panel and the semi-physical physical simulation model of the electric shovel for a simulation platform construction process, so as to establish a semi-physical simulation platform for the electric shovel, wherein the position sensor, mechanical sensor, attitude sensor and actuator are also implicitly connected to the virtual simulation control system; The electric shovel target operation pre-setting execution module is used to restrict the target operation parameter conditions of the actual electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform to obtain the electric shovel structure operation target operation setting parameter restriction conditions; based on the electric shovel structure operation target operation setting parameter restriction conditions, the executor is used to perform the electric shovel target operation execution processing on the actual electric shovel structure to generate the electric shovel structure semi-physical target operation operation execution process; wherein, the electric shovel target operation pre-setting execution module includes: Analyze the actual operation scenario of the actual electric shovel structure to obtain the actual operation scenario of the electric shovel structure; Analyze the task requirements of the actual electric shovel structure to obtain the actual operation task requirements of the electric shovel structure; Based on the actual operation scenario of the electric shovel structure and the actual operation task requirements of the electric shovel structure, the electric shovel operation target is determined for the actual electric shovel structure to obtain the actual operation target operation of the electric shovel structure; The target operation parameter conditions of the actual operation target operation of the electric shovel structure are restricted by the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform to obtain the setting parameter restriction conditions of the target operation of the electric shovel structure operation; these include: The excavation depth of the actual operation target operation of the electric shovel structure is controlled and set by connecting the control panel of the electric shovel semi-physical operation in the electric shovel semi-physical simulation platform, and the excavation depth of the target operation operation of the electric shovel structure is obtained; The excavation speed control setting is performed on the target operation of the electric shovel structure through the electric shovel semi-physical operation connection control panel in the electric shovel semi-physical simulation platform, and the target operation excavation speed of the electric shovel structure operation is obtained; Based on the excavation depth and excavation speed of the electric shovel structure operation target operation, the excavation parameter condition restriction analysis of the actual operation target operation of the electric shovel structure is performed to obtain the excavation parameter restriction conditions of the electric shovel structure operation target; The steering angle of the actual operation target operation of the electric shovel structure is controlled and set by connecting the control panel of the electric shovel semi-physical operation in the electric shovel semi-physical simulation platform, and the steering angle of the target operation operation of the electric shovel structure is obtained; Based on the steering angle of the electric shovel structure operation target operation, the steering power parameter condition restriction analysis is performed on the actual operation target operation of the electric shovel structure, and the steering power parameter restriction condition of the electric shovel structure operation target is obtained; The parameter conditions of the target excavation parameter constraint conditions of the electric shovel structure operation and the target steering power parameter constraint conditions of the electric shovel structure operation are combined to obtain the target operation setting parameter constraint conditions of the electric shovel structure operation; Based on the parameter restriction conditions of the target operation of the electric shovel structure, the actuator is used to perform the target operation execution processing of the electric shovel structure to generate the semi-physical target operation execution process of the electric shovel structure; The electric shovel target operation parameter real-time acquisition module is used to collect the electric shovel operation parameters in real time during the execution process of the semi-physical target operation operation of the electric shovel structure through position sensors, mechanical sensors and posture sensors, so as to obtain the electric shovel target operation operation position real-time parameters, the electric shovel target operation operation force real-time parameters and the electric shovel target operation operation posture real-time parameters; upload the electric shovel target operation position real-time parameters, the electric shovel target operation operation force real-time parameters and the electric shovel target operation operation posture real-time parameters to the electric shovel semi-physical physical simulation model; The target simulation feedback adjustment control optimization module is used to use the electric shovel semi-physical physical simulation model to perform target simulation feedback error adjustment analysis on the real-time parameters of the electric shovel target operation position, the real-time parameters of the electric shovel target operation force, and the real-time parameters of the electric shovel target operation posture, and obtain the electric shovel semi-physical target simulation feedback error adjustment parameter set; based on the electric shovel semi-physical target simulation feedback error adjustment parameter set, the electric shovel semi-physical operation connection control panel dynamic response control actuator is used to perform target execution control optimization on the electric shovel structure semi-physical target operation operation execution process, so as to generate the electric shovel semi-physical target operation execution control optimization process, wherein the target simulation feedback adjustment control optimization module includes: By taking the real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel and the real-time parameters of the target operation posture of the electric shovel as the target operation operation simulation input parameter conditions of the electric shovel, and using the electric shovel semi-physical physical simulation model to perform target operation simulation processing on the target operation simulation input parameter conditions of the electric shovel, a semi-physical target operation operation simulation process model of the electric shovel is obtained; Based on the electric shovel semi-physical target operation operation simulation process model, the target simulation feedback error statistical analysis is performed on the real-time parameters of the electric shovel target operation operation position, the real-time parameters of the electric shovel target operation operation force, and the real-time parameters of the electric shovel target operation operation posture, and the operation simulation feedback error set between the electric shovel real-time operation and the target simulation process is obtained; including: Conduct target parameter simulation feedback analysis on the electric shovel semi-physical target operation operation simulation process model to obtain the electric shovel model target operation operation position simulation feedback parameters, the electric shovel model target operation operation force simulation feedback parameters and the electric shovel model target operation operation posture simulation feedback parameters; Performing an operation position target simulation error analysis between the target operation position simulation feedback parameters of the electric shovel model and the target operation position real-time parameters of the electric shovel, and obtaining the operation position error value between the real-time operation of the electric shovel and the target simulation process; Performing an operation force target simulation error analysis between the target operation force simulation feedback parameter of the electric shovel model and the target operation force real-time parameter of the electric shovel, and obtaining the operation force error value between the real-time operation of the electric shovel and the target simulation process; Performing an operation attitude target simulation error analysis between the target operation attitude simulation feedback parameters of the electric shovel model and the target operation attitude real-time parameters of the electric shovel, and obtaining the operation attitude error value between the real-time operation of the electric shovel and the target simulation process; The operation position error value, operation force error value and operation posture error value between the real-time operation of the electric shovel and the target simulation process are combined to obtain the operation simulation feedback error set between the real-time operation of the electric shovel and the target simulation process; The error adjustment analysis is performed on the operation simulation feedback error set between the real-time operation of the electric shovel and the target simulation process, and the error adjustment parameter set of the electric shovel semi-physical target simulation feedback is obtained; Based on the error adjustment parameter set of the electric shovel semi-physical target simulation feedback, the error response control of the electric shovel semi-physical operation connection control panel is performed to generate the electric shovel structure semi-physical target operation error response control instruction; The target execution control optimization of the semi-physical target operation operation execution process of the electric shovel structure is carried out by utilizing the dynamic response control actuator of the semi-physical target operation error response control instruction of the electric shovel structure to generate the semi-physical target operation execution control optimization process of the electric shovel.

2. The target simulation system for realizing semi-physical simulation of electric shovel according to claim 1 is characterized in that: The semi-physical simulation analysis of the actual electric shovel structure based on the virtual simulation control system comprises the following steps: The actual electric shovel structure is analyzed to obtain the components of the electric shovel mechanical structure and the components of the electric shovel power system; Based on the components of the electric shovel mechanical structure and the components of the electric shovel power system, a virtual simulation modeling tool is used to perform physical simulation modeling of the actual electric shovel structure to generate a physical virtual simulation model of the electric shovel structure; Based on the virtual simulation control system, the kinematics simulation design of the electric shovel structure physical virtual simulation model is carried out to obtain the kinematics simulation conditions of the electric shovel structure physical model; Based on the virtual simulation control system, the shovel structure physical virtual simulation model is used to perform shovel dynamics simulation design, and the dynamics simulation conditions of the shovel structure physical model are obtained; According to the kinematic simulation conditions of the electric shovel structure physical model and the dynamic simulation conditions of the electric shovel structure physical model, the electric shovel semi-physical simulation control analysis is performed on the electric shovel structure physical virtual simulation model to obtain the electric shovel semi-physical physical simulation model.

3. The target simulation system for realizing semi-physical simulation of electric shovel according to claim 1 is characterized in that: The real-time acquisition module of the target operating parameters of the electric shovel includes the following functions: The position sensor is used to collect the real-time operation position of the electric shovel during the execution of the semi-physical target operation operation of the electric shovel structure, so as to obtain the real-time parameters of the target operation position of the electric shovel; The shovel operation force is collected in real time during the execution of the semi-physical target operation of the shovel structure through mechanical sensors to obtain the real-time parameters of the shovel target operation force; The posture sensor is used to collect the shovel's operating posture in real time during the execution of the semi-physical target operation of the shovel structure, so as to obtain the real-time parameters of the shovel's target operation posture; The real-time parameters of the target operation position of the electric shovel, the real-time parameters of the target operation force of the electric shovel and the real-time parameters of the target operation posture of the electric shovel are uploaded to the semi-physical simulation model of the electric shovel.

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