Virtual simulation method and system for combined hoisting operation

Abstract

The invention provides a virtual simulation method and system for combined hoisting operation. The method comprises the following steps: simulating a combined hoisting operation system to construct a six-degree-of-freedom combined hoisting model; instruction parameters of the crane are obtained, and simulation data of combined hoisting operation are generated according to the instruction parameters and safety detection; and correcting the simulation data according to the target task data, and outputting a target simulation result of the combined hoisting operation. According to the method, the virtual simulation process at any time point in the combined hoisting operation process is visually output through the six-degree-of-freedom combined hoisting model, problems existing in a combined hoisting operation system are researched based on collision inspection and simulation correction, and a solution required by research is provided for the heavy lift vessel in the combined hoisting operation field.

Description

Technical Field

[0001] The present invention relates to the field of simulation technology, and in particular to a virtual simulation method and system for joint crane operation. Background Art

[0002] Joint lifting operation refers to the process of loading and unloading overweight and oversized cargo by a double crane system on the deck of a heavy lift ship. Due to the complex structure and high price of the crane, the operation is dangerous, especially the double crane system has higher requirements for lifting operations.

[0003] With the development of science, virtual simulation technology can be used to simulate the operation process of cranes, standardize crane operations, and meet the requirements of safety and stability of lifting operations. However, there is a lack of research on virtual simulation of joint lifting operations of heavy lift ships in the existing technology, and further simulation correction of joint lifting operations cannot provide an effective solution.

[0004] Therefore, there is an urgent need for a virtual simulation method for joint lifting operations to meet the needs of virtual simulation and simulation correction of joint lifting operations. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention proposes a virtual simulation method and system for joint crane operations.

[0006] The first aspect of the present invention discloses a virtual simulation method for a joint crane operation, comprising:

[0007] Simulate the joint lifting operation system to build a six-degree-of-freedom joint lifting model;

[0008] Acquire command parameters of the crane, and generate simulation data of the crane linkage operation according to the command parameters and safety detection;

[0009] The simulation data is modified according to the target task data, and the target simulation result of the joint crane operation is output.

[0010] As an optional implementation, in the first aspect of the present invention, the simulated linkage operation system constructs a linkage model with six degrees of freedom, including:

[0011] According to the lifting motion, slewing motion and luffing motion of the first crane and the second crane, motion modeling of the crane coupling model in six degrees of freedom is performed on the crane;

[0012] Based on the crane base as the root node, the hierarchical relationships of the base unit, slewing unit, boom unit and hook head unit are marked as sub-nodes in sequence, and the structural modeling of the crane model in six degrees of freedom is constructed based on the association mechanism of the motion state between the root node and the sub-nodes.

[0013] As an optional implementation, in the first aspect of the present invention, the obtaining of the instruction parameters of the crane includes:

[0014] Initialize the posture parameters of the first crane and the second crane;

[0015] Acquire motion control parameters between a root node and a child node and between a child node and a child node in the first crane and / or the second crane.

[0016] As an optional implementation, in the first aspect of the present invention, the generating simulation data of the linkage operation according to the instruction parameters includes:

[0017] Using joints and links to define the geometric relationships between the root node and the child node and between the child node and the child node;

[0018] Based on the joints and the connecting rods, the kinematic solution of the six degrees of freedom is converted into the kinematic solution of the mechanical arm unit in the single degree of freedom, wherein the mechanical arm unit in the single degree of freedom represents the slewing structure, the boom structure and the hook structure of the first crane and the second crane respectively;

[0019] According to the motion control parameters, variable parameters describing the relationship between the joint and the connecting rod are generated, and the variable parameters include the joint angle θ i , connecting rod length a i , connecting rod offset d i and the twist angle α i ;

[0020] Motion data reflecting the position information of the end effector of the robotic arm unit is calculated according to the variable parameters.

[0021] As an optional embodiment, in the first aspect of the present invention, the motion data reflecting the position information of the end effector of the robot arm is calculated according to the variable parameters, including:

[0022] According to the joint angle θ i Confirm the rotation angle of the corresponding joint of the robot arm unit, according to the connecting rod length a i Confirm that the distance between the corresponding joints of the robot arm unit on the same joint axis is based on the link offset d i Confirm the distance between the corresponding joints of the robot unit along the previous joint axis, according to the torsion angle α i Determine the angle between two adjacent joint axes of the robotic arm unit;

[0023] Constructing a homogeneous transformation matrix of the manipulator unit in a single-degree-of-freedom joint coordinate system according to the variable parameters;

[0024] The manipulator units corresponding to the base and the end effector use the homogeneous transformation matrix to transform the joint coordinate system in sequence, and output the target transformation matrix of the joint suspension model. The target transformation matrix includes the posture information of the end effector and the motion data of the motion process of the manipulator unit in each degree of freedom.

[0025] As an optional implementation, in the first aspect of the present invention, the generating simulation data of the joint crane operation according to the safety detection includes:

[0026] Collecting the position information of the cargo and the obstacle, and setting the safety distance threshold between the linkage model and the cargo and the obstacle according to the posture information of the end effector and the motion data of the manipulator unit;

[0027] The virtual simulation motion state of the linkage model is updated frame by frame according to the posture information and motion data, and the simulation data that does not meet the safety distance threshold is calculated using spatial position parameter constraint check and / or bounding box-based collision check, and the simulation data that does not meet the safety distance threshold is eliminated to obtain simulation data that passes the safety test.

[0028] As an optional implementation, in the first aspect of the present invention, the correction of the simulation data according to the target task data includes:

[0029] Collecting target task data to generate a reference path of the linkage model, and generating a simulation path of the linkage model according to the simulation data;

[0030] The reference path and the simulation path are decomposed into sub-paths according to the number of motion frames by using polynomial fitting, and the sub-path coordinates of the reference path and the simulation path are calculated respectively;

[0031] Calculating the quantitative error and the coefficient of determination between the simulation path and the reference path on the sub-path coordinates;

[0032] The goodness of fit of the simulation path is evaluated according to the quantitative error and the determination coefficient, the simulation path is corrected based on the goodness of fit, and a control instruction for path correction is returned.

[0033] The second aspect of the present invention discloses a virtual simulation system for joint crane operation, the system comprising:

[0034] Modeling module, used to simulate the joint crane operation system and build a six-degree-of-freedom joint crane model;

[0035] A simulation module, used for obtaining command parameters of the crane, and generating simulation data of the crane linkage operation according to the command parameters and safety detection;

[0036] The correction module is used to correct the simulation data according to the target task data and output the target simulation result of the joint crane operation.

[0037] As an optional implementation, in the second aspect of the present invention, the modeling module simulates the linkage operation system to construct a linkage model with six degrees of freedom, including:

[0038] According to the lifting motion, slewing motion and luffing motion of the first crane and the second crane, motion modeling of the crane coupling model in six degrees of freedom is performed on the crane;

[0039] Based on the crane base as the root node, the hierarchical relationships of the base unit, slewing unit, boom unit and hook head unit are marked as sub-nodes in sequence, and the structural modeling of the crane model in six degrees of freedom is constructed based on the association mechanism of the motion state between the root node and the sub-nodes.

[0040] As an optional implementation, in the second aspect of the present invention, the simulation module obtains the instruction parameters of the crane, including:

[0041] Initialize the posture parameters of the first crane and the second crane;

[0042] Acquire motion control parameters between a root node and a child node and between a child node and a child node in the first crane and / or the second crane.

[0043] As an optional implementation, in the second aspect of the present invention, the simulation module generates simulation data of the joint crane operation according to the instruction parameters, including:

[0044] Using joints and links to define the geometric relationships between the root node and the child node and between the child node and the child node;

[0045] Based on the joints and the connecting rods, the kinematic solution of the six degrees of freedom is converted into the kinematic solution of the mechanical arm unit in the single degree of freedom, wherein the mechanical arm unit in the single degree of freedom represents the slewing structure, the boom structure and the hook structure of the first crane and the second crane respectively;

[0046] According to the motion control parameters, variable parameters describing the relationship between the joint and the connecting rod are generated, and the variable parameters include the joint angle θ i , connecting rod length a i , connecting rod offset d i and the twist angle α i ;

[0047] Motion data reflecting the position information of the end effector of the robotic arm unit is calculated according to the variable parameters.

[0048] As an optional embodiment, in the second aspect of the present invention, the simulation module calculates motion data reflecting the position information of the end effector of the robot arm according to the variable parameters, including:

[0049] According to the joint angle θ i Confirm the rotation angle of the corresponding joint of the robot arm unit, according to the connecting rod length a i Confirm that the distance between the corresponding joints of the robot arm unit on the same joint axis is based on the link offset d i Confirm the distance between the corresponding joints of the robot unit along the previous joint axis, according to the torsion angle α i Determine the angle between two adjacent joint axes of the robotic arm unit;

[0050] Constructing a homogeneous transformation matrix of the manipulator unit in a single-degree-of-freedom joint coordinate system according to the variable parameters;

[0051] The manipulator units corresponding to the base and the end effector use the homogeneous transformation matrix to transform the joint coordinate system in sequence, and output the target transformation matrix of the joint suspension model. The target transformation matrix includes the posture information of the end effector and the motion data of the motion process of the manipulator unit in each degree of freedom.

[0052] As an optional implementation, in the second aspect of the present invention, the simulation module generates simulation data of the joint lifting operation according to the safety detection, including:

[0053] Collecting the position information of the cargo and the obstacle, and setting the safety distance threshold between the linkage model and the cargo and the obstacle according to the posture information of the end effector and the motion data of the manipulator unit;

[0054] The virtual simulation motion state of the linkage model is updated frame by frame according to the posture information and motion data, and the simulation data that does not meet the safety distance threshold is calculated using spatial position parameter constraint check and / or bounding box-based collision check, and the simulation data that does not meet the safety distance threshold is eliminated to obtain simulation data that passes the safety test.

[0055] As an optional implementation, in the second aspect of the present invention, the correction module corrects the simulation data according to the target task data, including:

[0056] Collecting target task data to generate a reference path of the linkage model, and generating a simulation path of the linkage model according to the simulation data;

[0057] The reference path and the simulation path are decomposed into sub-paths according to the number of motion frames by using polynomial fitting, and the sub-path coordinates of the reference path and the simulation path are calculated respectively;

[0058] Calculating the quantitative error and the coefficient of determination between the simulation path and the reference path on the sub-path coordinates;

[0059] The goodness of fit of the simulation path is evaluated according to the quantitative error and the determination coefficient, the simulation path is corrected based on the goodness of fit, and a control instruction for path correction is returned.

[0060] The third aspect of the present invention discloses a virtual simulation device for a joint crane operation, comprising:

[0061] at least one processor, and

[0062] a memory communicatively connected to the at least one processor; wherein,

[0063] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the virtual simulation method of the joint lifting operation as described in any one of the first aspects of the present invention.

[0064] The fourth aspect of the present invention discloses a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the virtual simulation method of the joint lifting operation as described in any one of the first aspect of the present invention.

[0065] Compared with the prior art, the present invention has the following advantages:

[0066] The present invention visualizes and outputs the virtual simulation process at any time point during the joint lifting operation through a six-degree-of-freedom joint lifting model, reflects the position information and motion state of the crane in real time, and studies the problems existing in the joint lifting operation system through collision check and simulation correction, providing the solutions needed for research in the field of joint lifting operations for heavy-lift vessels. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0068] Figure 1 It is a flow chart of the virtual simulation method of the joint lifting operation of the present invention;

[0069] Figure 2 It is a structural analysis schematic diagram of a joint-lifting model in a virtual simulation method of a joint-lifting operation of the present invention;

[0070] Figure 3 It is a schematic diagram of a forward solution three-dimensional simulation process of a crane mechanism in a virtual simulation method of a crane joint operation according to the present invention;

[0071] Figure 4 It is a schematic diagram of a three-dimensional simulation correction process of a crane mechanism in a virtual simulation method of a crane joint operation according to the present invention;

[0072] Figure 5 It is a schematic diagram of the virtual simulation system of the joint lifting operation of the present invention. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0074] Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

[0075] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0076] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0077] Before describing the present application, it should be noted that when using heavy-lift vessels to carry drilling platforms, locomotives and train carriages, wind power equipment, bridge cranes, complete sets of equipment and other overlong, overweight, oversized items and heavy-duty items with special transportation and loading and unloading requirements, it is necessary to complete the loading and unloading of goods through the linkage of two cranes. The loading and unloading of heavy items is highly dangerous, the crane has a high load, and the loading process needs to pass through a large space range, which has a great impact on the stability of the ship and is prone to collision with fixed objects on the ship, other cargo on the ship, cranes, etc. Therefore, there are many problems that need to be solved in the joint lifting operation. Due to the complex structure of the crane, the high price, and the high risk of operation, especially the double crane system completes the lifting of goods through the main crane and the auxiliary crane. The movement state of the crane and the cargo is more complicated, and higher requirements are placed on the lifting operation.

[0078] Furthermore, in the prior art, such as Patent No. CN107025819A, a virtual training system for a ship deck crane and a working method thereof are disclosed. Through the virtual training system, trainees are trained in the operating proficiency of a single crane and the problems existing in operating a single crane are studied. However, a virtual simulation of the joint lifting operation of a heavy lift ship has not yet been proposed. The lack of research on the virtual simulation of the joint lifting operation will not be able to solve the current problems related to the safety and stability of the joint lifting operation. Therefore, the present application proposes a virtual simulation method for the joint lifting operation, and the specific method is described in detail below.

[0079] Example 1

[0080] See also Figure 1 The embodiment of the present invention discloses a virtual simulation method for a joint crane operation, comprising:

[0081] 101. Simulate the joint crane operation system to build a six-degree-of-freedom joint crane model;

[0082] As an optional implementation, in the first aspect of the present invention, the simulated linkage operation system constructs a linkage model with six degrees of freedom, including:

[0083] According to the lifting motion, slewing motion and luffing motion of the first crane and the second crane, motion modeling of the crane coupling model in six degrees of freedom is performed on the crane;

[0084] Based on the crane base as the root node, the hierarchical relationships of the base unit, slewing unit, boom unit and hook head unit are marked as sub-nodes in sequence, and the structural modeling of the crane model in six degrees of freedom is constructed based on the association mechanism of the motion state between the root node and the sub-nodes.

[0085] It should be noted that when the heavy-lift ship crane is working, it mainly realizes the lifting operation through three actions. The movement process of the three actions can be simplified in the form of mechanisms, including the movement process of the lifting mechanism, the slewing mechanism and the luffing mechanism. The lifting mechanism can include a drive motor, a sling, a hook and a pulley block. The lifting mechanism is mainly used to lift and lower the goods in the motion modeling of virtual simulation. The slewing mechanism can include a slewing support structure and a slewing drive structure. The slewing mechanism is mainly used to slew the fixed turntable and the slewing drive turntable in the motion modeling of virtual simulation. The luffing mechanism may include a single-arm luffing structure and a combined-arm luffing structure. The luffing mechanism is mainly used in the motion modeling of virtual simulation to achieve the change of the amplitude of the joint lifting operation by rotating the hinge shaft on the fuselage. It is easy to know that the motion process of six degrees of freedom is completed by the main and auxiliary cranes in the joint lifting model. Therefore, it is necessary to simulate the motion process of the main crane and the auxiliary crane at the same time in the motion modeling. The motion process can be described by the spatial position coordinates and posture information at the previous time point and the spatial coordinates and posture information at the next time point. The motion state of the double crane joint lifting operation process in unit time.

[0086] Further, such as Figure 2As shown in the figure, through the structural analysis of the double cranes, based on the mechanism models and mechanism joints of the crane base, slewing, boom and hook head, the size, structure and hierarchical relationship of the three-dimensional model are organized according to the structural relationship of the actual motion mechanism. The base unit is taken as the root node of the crane, the slewing unit is taken as its child node, and the boom unit and the hook head unit are taken as the child nodes of the slewing unit, which can respectively solve their respective positions and angles, thereby abstractly simplifying the structural expression of the linkage model, and cooperating with the above-mentioned motion modeling to complete the static and dynamic expressions of the linkage model, providing a model basis for the subsequent virtual simulation of the linkage operation through operating instructions.

[0087] 102. Obtain command parameters of the crane, and generate simulation data of the crane linkage operation according to the command parameters and safety detection;

[0088] As an optional implementation, in the first aspect of the present invention, the obtaining of the instruction parameters of the crane includes:

[0089] Initialize the posture parameters of the first crane and the second crane;

[0090] Acquire motion control parameters between a root node and a child node and between a child node and a child node in the first crane and / or the second crane.

[0091] Specifically, a single crane can be simplified into the motion process of three robotic arms through the root node and child nodes, where the root node-child node represents the motion state of the robotic arm from the base unit to the slewing unit, where the root node and child node can be regarded as the joints of the robotic arm, and the robotic arm between the joints can be regarded as the connecting rod. Such simplification facilitates the subsequent kinematic solution of the coupled crane model. The command parameters of the crane include control commands for the main crane and the auxiliary crane. The control operations corresponding to the control commands include the slewing control and boom control of the main crane and the auxiliary crane. The kinematic solution of the control commands on the coupled crane model can calculate the crane's slewing angle, boom range, span, boom height, hook head height, sling telescopic length, and cargo position change state, respectively, and then complete the cargo displacement process from the lifting point to the placement point under the coupled crane model, and perform dynamic virtual simulation of the coupled crane operation through the posture parameters and motion control parameters in the command parameters.

[0092] As an optional implementation, in the first aspect of the present invention, the generating simulation data of the linkage operation according to the instruction parameters includes:

[0093] Using joints and links to define the geometric relationships between the root node and the child node and between the child node and the child node;

[0094] Based on the joints and the connecting rods, the kinematic solution of the six degrees of freedom is converted into the kinematic solution of the mechanical arm unit in the single degree of freedom, wherein the mechanical arm unit in the single degree of freedom represents the slewing structure, the boom structure and the hook structure of the first crane and the second crane respectively;

[0095] According to the motion control parameters, variable parameters describing the relationship between the joint and the connecting rod are generated, and the variable parameters include the joint angle θ i , connecting rod length a i , connecting rod offset d i and the twist angle α i ;

[0096] Motion data reflecting the position information of the end effector of the robotic arm unit is calculated according to the variable parameters.

[0097] As an optional embodiment, in the first aspect of the present invention, the motion data reflecting the position information of the end effector of the robot arm is calculated according to the variable parameters, including:

[0098] According to the joint angle θ i Confirm the rotation angle of the corresponding joint of the robot arm unit, according to the connecting rod length a i Confirm that the distance between the corresponding joints of the robot arm unit on the same joint axis is based on the link offset d i Confirm the distance between the corresponding joints of the robot unit along the previous joint axis, according to the torsion angle α i Determine the angle between two adjacent joint axes of the robotic arm unit;

[0099] Constructing a homogeneous transformation matrix of the manipulator unit in a single-degree-of-freedom joint coordinate system according to the variable parameters;

[0100] The manipulator units corresponding to the base and the end effector use the homogeneous transformation matrix to transform the joint coordinate system in sequence, and output the target transformation matrix of the joint suspension model. The target transformation matrix includes the posture information of the end effector and the motion data of the motion process of the manipulator unit in each degree of freedom.

[0101] Specifically, in this embodiment, the position and angle of the six degrees of freedom mechanism of the joint crane operation can be calculated by using the Denavit-Hartenberg algorithm. Since the DH algorithm is a mathematical method for solving the forward kinematics of a manipulator or robot mechanism, the position and posture of the end effector of the manipulator can be calculated by defining the geometric relationship between the joints and the connecting rods. The slewing mechanism, the boom mechanism and the hook head system in the mechanical structure of the crane can be abstracted as the form of a manipulator, and the relationship between the joints and the connecting rods in each manipulator can be described by four variable parameters. First, the joint axis is coincident with the Z axis in the coordinate system. For the rotary joint, the length direction of the connecting rod can be set to be along the X axis of the coordinate system, and the variable parameter can be set to the joint angle θ. i , connecting rod length a i , connecting rod offset d i and the twist angle α i , where the joint angle is expressed as the rotation angle around the joint axis (the turning angle of the connecting rod moving from the previous position to the next position along the Z-axis direction), usually expressed as a joint variable, the connecting rod length is expressed as the distance between two joints on the same joint axis (the distance the connecting rod is displaced on the Z-axis along the X-axis direction), the connecting rod offset represents the distance between two joints along the previous joint axis (the distance the connecting rod moves from the previous position to the next position along the Z-axis direction), usually expressed as a joint variable, and the torsion angle is expressed as the angle between two adjacent joint axes (the turning angle of the connecting rod moving from the previous joint axis position to the next joint axis position along the X-axis direction). The relative position and direction between the connecting rods can be described by the variable parameters, which can then be used to describe the virtual simulation motion process of the linkage model.

[0102] Furthermore, for each of the above links, variable parameters can be defined as a 4×4 homogeneous matrix. The transformation process of the homogeneous matrix in the joint coordinate system is used to express the motion state of the single-degree-of-freedom manipulator corresponding to the link in the virtual simulation process in the joint-hanging model. The homogeneous matrix of the current link can be expressed as:

[0103]

[0104] Among them, θ i Represents the joint angle of the current link, α i Indicates the torsion angle of the current connecting rod, a i Indicates the connecting rod length of the current connecting rod, d i represents the link offset of the current link, i represents the time node corresponding to the current link motion process (which can be expressed in frames), T iIt represents the current state of the connecting rod. In order to further calculate the posture (position and direction) of the end effector of the robot arm, it is necessary to accumulate the homogeneous transformation matrix of each connecting rod from the base to the end effector in turn to obtain the target transformation matrix T. Since the target transformation matrix is ​​obtained by calculating the connecting rod under six degrees of freedom in the joint lifting model, the target transformation matrix contains the position coordinates and angles of each joint and connecting rod of the joint lifting model in the static modeling process, as well as the motion process of each connecting rod under dynamic modeling. Therefore, the joint lifting model can be used to virtually simulate the process of the double crane joint lifting operation through the motion changes of each connecting rod at different positions and the movement process, which can effectively express the geometric relationship between each joint.

[0105] Further, such as Figure 3 As shown in the figure, the program implementation steps for the forward solution of the three-dimensional simulation process of the crane mechanism can be expressed as:

[0106] (1) Initialization: call the UpdateKinematics() method to initialize the joint pose.

[0107] (2) Update kinematics and construct the UpdateKinematics() method; calculate the transformation matrix: call DHMatrix() to calculate T1 (rotating platform), T2 (boom), and T3 (hook); calculate the total transformation matrix T by cumulative multiplication; update joint poses; update the rotation of baseRotation; update the rotation and position of arm; and update the position of hook;

[0108] (3) Calculation of the transformation moment T of the rotating platform: Call DHMatrix(theta1,0,0,0) to calculate the DH transformation matrix T1 of the rotating platform; where theta1 represents the rotation angle of the rotating platform, a=0, d=0, alpha=0, because the platform only rotates without other displacement or tilt.

[0109] (4) Calculation of the boom transformation matrix T2: Call DHMatrix(theta2,0,armLength,0) to calculate the DH transformation matrix T2 of the boom; where theta2 represents the pitch angle of the boom, and armLength represents the length of the boom; d=0, alpha=0, assuming no tilt or other movement.

[0110] (5) Calculation of hook head transformation matrix T3: Call DHMatrix(0,hookLength,0,0) to calculate the DH transformation matrix T3 of the hook head, where hookLength represents the vertical hanging length of the hook head; theta=0, a=0, alpha=0 and the hook head is directly suspended at the end of the boom.

[0111] (5) Calculation of the total transformation matrix T: The total transformation matrix T = T1*T2*T3 is calculated by matrix multiplication to obtain the position of the hook head relative to the base.

[0112] (6) Update Transform: Update the rotation of baseRotation: Convert theta1 to degrees and apply, baseRotation.localRotation = Quaternion.Euler(0,theta1*Mathf.Rad2Deg,0).

[0113] (7) Update the rotation and position of arm: Rotation: Convert theta2 to degrees and apply. Position: Set to armLength on the local z-axis, indicating the extension of the arm. arm.localRotation = Quaternion.Euler(theta2*Mathf.Rad2Deg,0,0); arm.localPosition = newVector3(0,0,armLength);

[0114] (8) Update the position of the hook: Extract the fourth column of T to update the position of the hook, hook.localPosition = T.GetColumn(3);

[0115] Furthermore, the calculation process of the DH transformation matrix in the forward solution of the three-dimensional simulation of the crane mechanism is specifically as follows:

[0116] (1) Input DH parameters, calculate and return the transformation matrix. Create DHMatrix(float theta, float d, float a, float alpha) method: Input four DH parameters: theta, d, a, alpha. Calculate cosine and sine values: float cosTheta = Mathf.Cos(theta); float sinTheta = Mathf.Sin(theta); float cosAlpha = Mathf.Cos(alpha); float sinAlpha = Mathf.Sin(alpha);

[0117] (2) Create and set the 4x4 transformation matrix: Matrix4x4 matrix = new Matrix4x4(); matrix.SetColumn(0, new Vector4(cosTheta, sinTheta, 0, 0)); matrix.SetColumn(1, new Vector4(-sinTheta*cosAlpha, cosTheta*cosAlpha, sinAlpha, 0)); matrix.SetColumn(2, new Vector4(sinTheta*sinAlpha, -cosTheta*sinAlpha, cosAlpha, 0)); matrix.SetColumn(3, new Vector4(a*cosTheta, a*sinTheta, d, 1)); Return the calculated transformation matrix.

[0118] (3) Update each frame and call UpdateKinematics() to update the joint status in each frame, so that the joint crane model is always in a visual state that dynamically displays the movement of the joint crane operation.

[0119] As an optional implementation, in the first aspect of the present invention, the generating simulation data of the joint crane operation according to the safety detection includes:

[0120] Collecting the position information of the cargo and the obstacle, and setting the safety distance threshold between the linkage model and the cargo and the obstacle according to the posture information of the end effector and the motion data of the manipulator unit;

[0121] The virtual simulation motion state of the linkage model is updated frame by frame according to the posture information and motion data, and the simulation data that does not meet the safety distance threshold is calculated using spatial position parameter constraint check and / or bounding box-based collision check, and the simulation data that does not meet the safety distance threshold is eliminated to obtain simulation data that passes the safety test.

[0122] Specifically, in order to speed up the detection speed and improve the efficiency, the geometric model of the crane can be reasonably and effectively simplified. In this embodiment, a joint crane model is used to represent the geometric relationship of the two cranes. The spatial position and posture of the crane at any time are solved by forward kinematics through the obtained instruction parameters, and are represented by a homogeneous matrix in the establishment and transformation of the three-dimensional coordinate system. Based on the position information of the reference cargo and obstacles, the spatial position relationship between the crane and the cargo and the obstacle is converted into the distance between spatial points, lines and surfaces through distance calculation for solution. At the same time, the shortest distance between the two cranes is calculated, and the influence of its dynamic changes (such as moving speed, rotation angle, etc.) on the distance is considered. According to the size, A predefined safety distance threshold is set based on factors such as working scope, safety regulations, and location information of cargo and obstacles. The calculated shortest distance is compared with the safety distance threshold through comparison and judgment. If the shortest distance is less than or equal to the safety distance threshold, it is judged that a collision may occur; otherwise, it is considered that no collision will occur in the current state, where the shortest distance includes the shortest distance between cranes and the shortest distance between cranes and cargo and obstacles. According to the above-mentioned spatial position parameter constraint check, the control steps with collision risks in the crane virtual simulation process corresponding to the control parameters can be identified, the simulation data corresponding to the control steps are deleted, and the simulation data without collision risks are retained to complete the simulation process of the crane joint operation.

[0123] Furthermore, the collision detection of the crane can also be performed by a bounding box. In this embodiment, an oriented bounding box (OBB) is taken as an example. The bounding box of the crane and the bounding boxes of the cargo and obstacles are respectively established according to the position information of the cargo and obstacles and the position information and motion data of the crane. The construction of the bounding box should be based on the geometric shape and size of the object to ensure that the object can be tightly and accurately surrounded. First, a preliminary screening is performed to use a relatively simple bounding box for preliminary collision detection. If the bounding boxes of the two objects do not intersect, the two objects are unlikely to collide, thereby avoiding more complex collision detection. If the bounding boxes of the two objects intersect after the preliminary screening, a more accurate collision detection is required, which involves direct calculation and analysis of the geometric shape of the object itself. The accurate data reflected by the joint crane model can support the direct calculation and analysis of the bounding box. Taking the oriented bounding box (OBB) as an example, the separating axis theorem (SAT) and other methods can be used to further determine whether the two objects intersect, thereby determining the possible collision risk in the virtual simulation process of the joint crane operation, and then improving the virtual simulation process of the joint crane operation.

[0124] Furthermore, the specific implementation of the crane collision check may include:

[0125] Collision check between crane boom and obstacles: crane boom and obstacles are represented by bounding boxes respectively; during the crane movement, the positions of the bounding boxes of the boom and obstacles are updated in real time; a collision detection algorithm is used to determine whether the boom bounding box intersects with the obstacle bounding box; if so, further precise collision detection is performed to determine the specific location and extent of the collision.

[0126] The collision check between the hoisted object and obstacles is performed, and a bounding box is also constructed for the hoisted object. During the hoisting process, the position and posture of the hoisted object are updated in real time, and its bounding box is also updated. A similar collision detection algorithm is used to determine whether the bounding box of the hoisted object intersects with the bounding box of the obstacle.

[0127] Collision check inside the crane: For the mechanical structures inside the crane (such as wire ropes, pulleys, etc.), collision check can also be performed using bounding boxes. By constructing bounding boxes for these components and updating their positions and postures in real time, internal collisions can be predicted and avoided.

[0128] 103. Modify the simulation data according to the target task data, and output the target simulation result of the joint crane operation.

[0129] As an optional implementation, in the first aspect of the present invention, the correction of the simulation data according to the target task data includes:

[0130] Collecting target task data to generate a reference path of the linkage model, and generating a simulation path of the linkage model according to the simulation data;

[0131] The reference path and the simulation path are decomposed into sub-paths according to the number of motion frames by using polynomial fitting, and the sub-path coordinates of the reference path and the simulation path are calculated respectively;

[0132] Calculating the quantitative error and the coefficient of determination between the simulation path and the reference path on the sub-path coordinates;

[0133] The goodness of fit of the simulation path is evaluated according to the quantitative error and the determination coefficient, the simulation path is corrected based on the goodness of fit, and a control instruction for path correction is returned.

[0134] Specifically, by comparing the recorded instruction parameter data with the loaded planning task standard data, the accuracy and deviation of the path execution are suggested, so as to achieve the effect of simulation correction, which is realized by data fitting. Data fitting is a mathematical method used to find a function or model that describes the trend and distribution of a set of data points as accurately as possible. It is widely used in scientific research, engineering, economics and other fields to analyze and predict data.

[0135] Furthermore, the crane mechanism movement determines that the actual movement data is not a linear movement. Therefore, in this embodiment, a polynomial fitting method is used to perform data fitting calculation, and the path is decomposed into a straight line or a polynomial curve. At the same time, after the fitting calculation, the fitting result is adjusted and corrected by introducing an error analysis method, wherein the polynomial fitting can be expressed as:

[0136]

[0137] The calculation process of error analysis includes:

[0138] The mean square error of path A and path B is calculated to quantify the degree of deviation between them. The calculation process of the mean square error can be expressed as:

[0139]

[0140] in, represents the coordinates of the i-th point of path A, Represents the coordinates of the i-th point on path B;

[0141] The maximum error between path A and path B is calculated to identify the maximum deviation point. The calculation process of the maximum error is expressed as:

[0142]

[0143] The coefficient of determination was calculated to assess the goodness of fit. The calculation process of the coefficient of determination is expressed as:

[0144]

[0145] in, Represents the average value of path A.

[0146] Furthermore, Figure 4 As shown in the figure, the program implementation steps of the forward solution of the three-dimensional simulation correction process of the crane mechanism can be expressed as:

[0147] 1. Initialize and input path data pathA and pathB; store the data of known paths and actual operation paths respectively through two lists pathA and pathB. These lists are composed of Vector3 objects, each of which represents a point on the path;

[0148] public List <vector3>pathA; / / known path A;

[0149] public List <vector3>pathB; / / Actual operation path B;

[0150] Determine the minimum number of points pointCount, and determine the number of points as follows: Make sure that the two paths have the same length for comparison, and use the Mathf.Min function to get the smaller length of the two lists, int pointCount = Mathf.Min (pathA.Count, pathB.Count);

[0151] 2. Error calculation, calculate the mean square error (MSE), declare an error accumulator parameter mse: set mse to 0, used to accumulate the square error of each point; float mse = 0f; traverse the path data: use a for loop to traverse each point, calculate the square error between path A and path B and accumulate;

[0152]

[0153] Calculate the average error: divide the accumulated error sum by the number of points to get the mean square error, mse / =pointCount;

[0154] Debug.Log("Mean Squared Error(MSE):"+mse);

[0155] Calculate the maximum error: Initialize the maximum error variable: set maxError to 0 to record the maximum error; float maxError = 0f; traverse the path data: use a for loop to calculate the error of each point and update maxError.

[0156]

[0157] 3. Fitting and analysis

[0158] Extract the coordinate points of path B and store the x and y coordinates of path B into arrays xValues ​​and yValues;

[0159]

[0160] Perform polynomial fitting and use the Fit.Polynomial method of the MathNet.Numerics library to fit the path B data and obtain the polynomial coefficients.

[0161] var polynomial = Fit.Polynomial(xValues, yValues, 2); / / 2nd order polynomial fitting.

[0162] Calculate the mean of path A: Calculate the average of all y coordinates in path A;

[0163]

[0164] Initialize the sum variables: ssTot and ssRes are used to store the total sum of squares and the residual sum of squares respectively;

[0165] double ssTot = 0;

[0166] double ssRes = 0;

[0167] Calculate the fitted value, residual sum of squares and total sum of squares for each point through a loop;

[0168]

[0169] Calculate R2 and calculate the coefficient of determination;

[0170] double rSquared=1-(ssRes / ssTot);

[0171] Debug.Log("R^2:"+rSquared);

[0172] End the program.

[0173] The present invention is based on the motion solution of the six-degree-of-freedom joint lifting model. It can visualize and output the virtual simulation process of any time point during the joint lifting operation through the joint lifting model, and can study the problems existing in the joint lifting operation system through collision detection and simulation correction. It provides the solution required for research in the field of joint lifting operations of heavy-duty cranes.

[0174] Example 2

[0175] like Figure 2 As shown, the second aspect of the present invention discloses a virtual simulation system for joint crane operation, the system comprising:

[0176] Modeling module, used to simulate the joint crane operation system and build a six-degree-of-freedom joint crane model;

[0177] A simulation module, used for obtaining command parameters of the crane, and generating simulation data of the crane linkage operation according to the command parameters and safety detection;

[0178] The correction module is used to correct the simulation data according to the target task data and output the target simulation result of the joint crane operation.

[0179] As an optional implementation, in the second aspect of the present invention, the modeling module simulates the linkage operation system to construct a linkage model with six degrees of freedom, including:

[0180] According to the lifting motion, slewing motion and luffing motion of the first crane and the second crane, motion modeling of the crane coupling model in six degrees of freedom is performed on the crane;

[0181] Based on the crane base as the root node, the hierarchical relationships of the base unit, slewing unit, boom unit and hook head unit are marked as sub-nodes in sequence, and the structural modeling of the crane model in six degrees of freedom is constructed based on the association mechanism of the motion state between the root node and the sub-nodes.

[0182] As an optional implementation, in the second aspect of the present invention, the simulation module obtains the instruction parameters of the crane, including:

[0183] Initialize the posture parameters of the first crane and the second crane;

[0184] Acquire motion control parameters between a root node and a child node and between a child node and a child node in the first crane and / or the second crane.

[0185] As an optional implementation, in the second aspect of the present invention, the simulation module generates simulation data of the joint crane operation according to the instruction parameters, including:

[0186] Using joints and links to define the geometric relationships between the root node and the child node and between the child node and the child node;

[0187] Based on the joints and the connecting rods, the kinematic solution of the six degrees of freedom is converted into the kinematic solution of the mechanical arm unit in the single degree of freedom, wherein the mechanical arm unit in the single degree of freedom represents the slewing structure, the boom structure and the hook structure of the first crane and the second crane respectively;

[0188] According to the motion control parameters, variable parameters describing the relationship between the joint and the connecting rod are generated, and the variable parameters include the joint angle θ i , connecting rod length a i , connecting rod offset d i and the twist angle α i ;

[0189] Motion data reflecting the position information of the end effector of the robotic arm unit is calculated according to the variable parameters.

[0190] As an optional embodiment, in the second aspect of the present invention, the simulation module calculates motion data reflecting the position information of the end effector of the robot arm according to the variable parameters, including:

[0191] According to the joint angle θ i Confirm the rotation angle of the corresponding joint of the robot arm unit, according to the connecting rod length a i Confirm that the distance between the corresponding joints of the robot arm unit on the same joint axis is based on the link offset d i Confirm the distance between the corresponding joints of the robot unit along the previous joint axis, according to the torsion angle α i Determine the angle between two adjacent joint axes of the robotic arm unit;

[0192] Constructing a homogeneous transformation matrix of the manipulator unit in a single-degree-of-freedom joint coordinate system according to the variable parameters;

[0193] The manipulator units corresponding to the base and the end effector use the homogeneous transformation matrix to transform the joint coordinate system in sequence, and output the target transformation matrix of the joint suspension model. The target transformation matrix includes the posture information of the end effector and the motion data of the motion process of the manipulator unit in each degree of freedom.

[0194] As an optional implementation, in the second aspect of the present invention, the simulation module generates simulation data of the joint lifting operation according to the safety detection, including:

[0195] Collecting the position information of the cargo and the obstacle, and setting the safety distance threshold between the linkage model and the cargo and the obstacle according to the posture information of the end effector and the motion data of the manipulator unit;

[0196] The virtual simulation motion state of the linkage model is updated frame by frame according to the posture information and motion data, and the simulation data that does not meet the safety distance threshold is calculated using spatial position parameter constraint check and / or bounding box-based collision check, and the simulation data that does not meet the safety distance threshold is eliminated to obtain simulation data that passes the safety test.

[0197] As an optional implementation, in the second aspect of the present invention, the correction module corrects the simulation data according to the target task data, including:

[0198] Collecting target task data to generate a reference path of the linkage model, and generating a simulation path of the linkage model according to the simulation data;

[0199] The reference path and the simulation path are decomposed into sub-paths according to the number of motion frames by using polynomial fitting, and the sub-path coordinates of the reference path and the simulation path are calculated respectively;

[0200] Calculating the quantitative error and the coefficient of determination between the simulation path and the reference path on the sub-path coordinates;

[0201] The goodness of fit of the simulation path is evaluated according to the quantitative error and the determination coefficient, the simulation path is corrected based on the goodness of fit, and a control instruction for path correction is returned.

[0202] Example 3

[0203] The third aspect of the present invention discloses a virtual simulation device for a joint crane operation, comprising:

[0204] at least one processor, and

[0205] a memory communicatively connected to the at least one processor; wherein,

[0206] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the virtual simulation method of the joint lifting operation as described in any one of the first aspects of the present invention.

[0207] The computer device may be a terminal, and the computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a virtual simulation method for the joint lifting operation is realized. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covering the display screen, or a key, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0208] Example 4

[0209] The fourth aspect of the present invention discloses a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the virtual simulation method of the joint lifting operation as described in any one of the first aspect of the present invention.

[0210] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the virtual simulation method through the joint suspension operation as described above. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0211] Alternatively, if the above modules of the present invention are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the relevant technology. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, terminal, or network device, etc.) to execute all or part of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, RAM, ROM, magnetic disks or optical disks.

[0212] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the existence of other identical elements in the process, method, commodity or device including the element.

[0213] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0214] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0215] Finally, it should be noted that the virtual simulation method and system for linked crane operations disclosed in the embodiments of the present invention only disclose the preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A virtual simulation method for joint crane operation, characterized in that: The method comprises: Simulate the joint lifting operation system to build a six-degree-of-freedom joint lifting model; Acquire command parameters of the crane, and generate simulation data of the crane linkage operation according to the command parameters and safety detection; The simulation data is modified according to the target task data, and the target simulation result of the joint crane operation is output.

2. The virtual simulation method for joint crane operation according to claim 1 is characterized in that: The simulated joint-lifting operation system constructs a six-degree-of-freedom joint-lifting model, including: According to the lifting motion, slewing motion and luffing motion of the first crane and the second crane, motion modeling of the crane coupling model in six degrees of freedom is performed on the crane; Based on the crane base as the root node, the hierarchical relationships of the base unit, slewing unit, boom unit and hook head unit are marked as sub-nodes in sequence, and the structural modeling of the crane model in six degrees of freedom is constructed based on the association mechanism of the motion state between the root node and the sub-nodes.

3. The virtual simulation method for joint crane operation according to claim 2 is characterized in that: The step of obtaining the crane instruction parameters includes: Initialize the posture parameters of the first crane and the second crane; Acquire motion control parameters between a root node and a child node and between a child node and a child node in the first crane and / or the second crane.

4. The virtual simulation method for joint crane operation according to claim 3 is characterized in that: The generating simulation data of the joint crane operation according to the instruction parameters comprises: Using joints and links to define the geometric relationships between the root node and the child node and between the child node and the child node; Based on the joints and the connecting rods, the kinematic solution of the six degrees of freedom is converted into the kinematic solution of the mechanical arm unit in the single degree of freedom, wherein the mechanical arm unit in the single degree of freedom represents the slewing structure, the boom structure and the hook structure of the first crane and the second crane respectively; According to the motion control parameters, variable parameters describing the relationship between the joint and the connecting rod are generated, and the variable parameters include the joint angle θ i , connecting rod length a i , connecting rod offset d i and the twist angle α i ; Motion data reflecting the position information of the end effector of the robotic arm unit is calculated according to the variable parameters.

5. The virtual simulation method for joint crane operation according to claim 4 is characterized in that: The calculating, according to the variable parameters, motion data reflecting the position information of the end effector of the robot arm comprises: According to the joint angle θ i Confirm the rotation angle of the corresponding joint of the robot arm unit, according to the connecting rod length a i Confirm that the distance between the corresponding joints of the robot arm unit on the same joint axis is based on the link offset d i Confirm the distance between the corresponding joints of the robot unit along the previous joint axis, according to the torsion angle α i Determine the angle between two adjacent joint axes of the robotic arm unit; Constructing a homogeneous transformation matrix of the manipulator unit in a single-degree-of-freedom joint coordinate system according to the variable parameters; The manipulator units corresponding to the base and the end effector use the homogeneous transformation matrix to transform the joint coordinate system in sequence, and output the target transformation matrix of the joint suspension model. The target transformation matrix includes the posture information of the end effector and the motion data of the motion process of the manipulator unit in each degree of freedom.

6. The virtual simulation method for joint crane operation according to claim 4 is characterized in that: The generating of simulation data of the joint hoisting operation according to the safety detection includes: Collecting the position information of the cargo and the obstacle, and setting the safety distance threshold between the linkage model and the cargo and the obstacle according to the posture information of the end effector and the motion data of the manipulator unit; The virtual simulation motion state of the linkage model is updated frame by frame according to the posture information and motion data, and the simulation data that does not meet the safety distance threshold is calculated using spatial position parameter constraint check and / or bounding box-based collision check, and the simulation data that does not meet the safety distance threshold is eliminated to obtain simulation data that passes the safety test.

7. The virtual simulation method for joint crane operation according to claim 6 is characterized in that: The correction of the simulation data according to the target task data includes: Collecting target task data to generate a reference path of the linkage model, and generating a simulation path of the linkage model according to the simulation data; The reference path and the simulation path are decomposed into sub-paths according to the number of motion frames by using polynomial fitting, and the sub-path coordinates of the reference path and the simulation path are calculated respectively; Calculating the quantitative error and the coefficient of determination between the simulation path and the reference path on the sub-path coordinates; The goodness of fit of the simulation path is evaluated according to the quantitative error and the determination coefficient, the simulation path is corrected based on the goodness of fit, and a control instruction for path correction is returned.

8. A virtual simulation system for joint crane operation, characterized in that: The system comprises: Modeling module, used to simulate the joint crane operation system and build a six-degree-of-freedom joint crane model; A simulation module, used for obtaining command parameters of the crane, and generating simulation data of the crane linkage operation according to the command parameters and safety detection; The correction module is used to correct the simulation data according to the target task data and output the target simulation result of the joint crane operation.

9. A virtual simulation device for joint crane operation, characterized in that: include: at least one processor, and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the virtual simulation method of the joint crane operation as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the virtual simulation method for the joint lifting operation according to any one of claims 1 to 7.

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