Operation machinery simulation cockpit motion platform and motion simulation method

Abstract

The invention provides an operation machinery simulation cockpit motion platform and a motion simulation method, and belongs to the field of operation machinery. The platform comprises an advancing and retreating movement assembly used for simulating advancing and retreating movement of the working machine; the chassis yawing assembly is mounted on the advancing and retreating movement assembly and used for simulating the yawing angle of the chassis of the operation machine; and the rotary motion assembly is mounted on the chassis yaw assembly and is used for simulating the rotary motion of the vehicle body of the operation machine. The method comprises the steps of obtaining operation machine motion information; converting the motion information of the operation machinery into the motion information of the simulation cockpit motion platform of the operation machinery; and according to the motion information, controlling the operation machinery to simulate the motion platform of the cockpit to act so as to simulate the pose of the operation machinery. The device simulates the motion of six spatial degrees of freedom of an actual operation machine and the combined motion of any degree of freedom of the actual operation machine, kinematics solution is convenient, and control is convenient.

Description

Technical Field

[0001] The present invention relates to the field of working machinery, and in particular to a working machinery simulated cockpit motion platform and a working machinery simulated cockpit motion simulation method. Background Art

[0002] The operating machinery simulation cockpit can realistically reproduce the operating environment of the operating machinery through a highly simulated design. In some engineering operations with potential safety hazards, the simulation cockpit allows operators to conduct comprehensive and accurate remote control of the operating machinery from a safe position, thereby improving operating efficiency and safety. At the same time, the simulation cockpit can also be used for operator training, helping novice operators quickly master the operating skills of the operating machinery and improve the operator's operating level.

[0003] Most of the existing simulated cockpits on the market are static and fixed. They can simulate various operating components in the cockpit, but they cannot simulate the movement of the operating machinery after operation, and cannot provide operators with real operating responses. The few simulated cockpits with motion functions are based on the Stewart platform, which is a parallel robot structure with a relatively complex structure and high difficulty in kinematics solution, which brings difficulties to motion control. Summary of the invention

[0004] The purpose of an embodiment of the present invention is to provide a working machinery simulation cockpit motion platform and a motion simulation method. The simulation cockpit motion platform can simulate the motion of six spatial degrees of freedom of an actual working machinery, and the composite motion of any combination of degrees of freedom. The kinematics solution is convenient and the control is easy.

[0005] In order to achieve the above-mentioned object, the first aspect of the present invention provides a working machine simulation cockpit motion platform, the working machine simulation cockpit motion platform comprising:

[0006] The forward and backward motion component is used to simulate the forward and backward motion of the operating machinery;

[0007] The chassis yaw assembly is installed on the forward and backward motion assembly to simulate the yaw angle of the operating machinery chassis;

[0008] The rotary motion assembly is installed on the chassis yaw assembly and is used to simulate the rotary motion of the working machine body.

[0009] According to the above technical means, the working machinery simulation cockpit motion platform includes an advance and retreat motion component, a chassis yaw component and a rotation motion component, which can simulate the advance and retreat motion of the working machinery, the chassis yaw angle and the rotation motion of the vehicle body, wherein the vehicle body rotation motion includes the pitch rotation, roll rotation and rotation of the vehicle body, and can simulate the movement of the six spatial degrees of freedom of the working machinery and the compound motion of the combination of any degrees of freedom, and has a simple structure.

[0010] In some feasible embodiments, the forward and backward motion component includes:

[0011] Wheel guides, used to simulate the forward and backward paths of the operating machinery;

[0012] A wheel mounted on the wheel guide rail, wherein the wheel moves on the wheel guide rail to simulate the forward and backward movement of the working machine;

[0013] The mobile platform is mounted on the wheels and is used for mounting the rotary motion component.

[0014] According to the above technical means, wheel guide rails and wheels are used to simulate the forward and backward movement of the working machinery, which has a simple structure and reduces costs.

[0015] In some feasible embodiments, the chassis yaw assembly includes:

[0016] The first turntable is installed on the mobile platform, and the center of the first turntable coincides with the projection of the geometric center of the mobile platform in the vertical direction; the first turntable can rotate around the center to simulate the yaw angle of the chassis of the working machine.

[0017] In some feasible embodiments, the rotational motion component includes:

[0018] At least three servo electric cylinders, wherein the first ends of the servo electric cylinders are vertically fixedly mounted on the first turntable, one of the servo electric cylinders is mounted at the center of the first turntable, and the remaining servo electric cylinders are mounted at a preset distance from the center of the first turntable, and the angle formed by the connecting line between the installation positions of two adjacent servo electric cylinders and the center of the first turntable is a right angle, and the connecting line between the installation position of at least one of the servo electric cylinders and the center of the first turntable is parallel to the wheel guide rail, and the pitch rotation movement and roll rotation movement of the working machine body are simulated by the extension and retraction of the servo electric cylinders;

[0019] The second turntable is installed at the second end of the servo electric cylinder to simulate the rotational movement of the working machine body when the servo electric cylinder is extended and retracted. The projection of the center of the second turntable in the vertical direction coincides with the center of the first turntable.

[0020] According to the above technical means, different telescopic lengths of the servo electric cylinder are used to simulate the pitch rotation movement and roll rotation movement of the working machine body. The structure is simple and easy to control. The servo electric cylinder is perpendicular to the first turntable, and its telescopic direction is also vertical. Compared with the inclined installation, it is more labor-saving when simulating the body rotation. There is no need to consider the inclination angle of the servo electric cylinder itself during calculation, which makes the calculation more convenient.

[0021] In some feasible embodiments, the second turntable includes a first disk and a second disk, the second disk is arranged on the first disk, and the center of the first disk coincides with the projection of the center of the second disk in the vertical direction; the second disk can rotate around the center.

[0022] In some feasible embodiments, an electric cylinder guide rail is provided on the bottom surface of the first disc, a slider on the electric cylinder guide rail is fixedly connected to a universal joint, the second end of the servo electric cylinder is connected to the universal joint, and the slider can slide on the electric cylinder guide rail when the servo electric cylinder is extended or retracted to adjust the inclination angle of the second turntable.

[0023] A second aspect of the present application provides a method for simulating motion of a simulated cockpit of a working machine, the method comprising:

[0024] Acquire the working machine movement information, wherein the working machine movement information includes one or more of the chassis horizontal movement speed, chassis up and down movement speed, pitch rotation angle, roll rotation angle, vehicle body rotation angle, and chassis rotation angle;

[0025] Converting the working machine motion information into the motion information of the working machine simulation cockpit motion platform;

[0026] The operation machine is controlled to simulate the action of the cockpit motion platform according to the motion information to simulate the position and posture of the operation machine.

[0027] According to the above technical means, the kinematics can be easily solved and controlled to simulate the movement of six spatial degrees of freedom of actual operating machinery and the compound movement of any combination of degrees of freedom.

[0028] In some feasible embodiments, when the working machine motion information includes the horizontal motion speed of the chassis, converting the working machine motion information into motion information of the working machine simulation cockpit motion platform includes:

[0029] Calculate a first proportional value according to the horizontal movement speed of the chassis and the maximum horizontal movement speed of the chassis;

[0030] The moving distance of the forward and backward motion component is calculated according to the first proportional value and the length of the wheel guide rail.

[0031] According to the above technical means, the horizontal movement of the operating machinery chassis can be quickly converted to the simulated cockpit motion platform, and the calculation is simple.

[0032] In some feasible embodiments, when the working machine motion information includes the up and down motion speed of the chassis, converting the working machine motion information into motion information of the working machine simulation cockpit motion platform includes:

[0033] Calculate a second proportional value according to the up and down movement speed of the chassis and the maximum up and down movement speed of the chassis;

[0034] The synchronous extension and retraction length of each servo electric cylinder is calculated according to the second proportional value and the stroke of the servo electric cylinder.

[0035] According to the above technical means, the up and down movement of the operating machinery chassis can be simply and quickly converted to the simulated cockpit motion platform, and the solution is convenient and fast.

[0036] In some feasible embodiments, when the working machine motion information includes a pitch rotation angle, converting the working machine motion information into motion information of a working machine simulation cockpit motion platform includes:

[0037] Calculating the difference between the telescopic length of the first servo electric cylinder and the telescopic length of the third servo electric cylinder according to the pitch rotation angle, the line between the installation position of the third servo electric cylinder and the center of the first turntable is parallel to the wheel guide rail, and the first servo electric cylinder is installed at the center of the first turntable;

[0038] The telescopic length of the first servo electric cylinder and the telescopic length of the third servo electric cylinder are calculated according to the difference between the telescopic length of the first servo electric cylinder and the telescopic length of the third servo electric cylinder.

[0039] In some feasible embodiments, when the working machine motion information includes a roll rotation angle, converting the working machine motion information into motion information of a working machine simulation cockpit motion platform includes:

[0040] Calculating the difference between the telescopic length of the second servo electric cylinder and the telescopic length of the first servo electric cylinder according to the rolling rotation angle, the line between the installation position of the second servo electric cylinder and the center of the first turntable is perpendicular to the wheel guide rail, and the first servo electric cylinder is installed at the center of the first turntable;

[0041] The telescopic length of the second servo electric cylinder and the telescopic length of the first servo electric cylinder are calculated according to the difference between the telescopic length of the second servo electric cylinder and the telescopic length of the first servo electric cylinder.

[0042] In some feasible embodiments, when the working machine motion information includes both a pitch rotation angle and a roll rotation angle, converting the working machine motion information into motion information of a working machine simulation cockpit motion platform includes:

[0043] A coordinate system is established with the center of the second disk as the origin, the X-axis direction is parallel to the wheel guide rail, the Y-axis direction is perpendicular to the wheel guide rail, and the Z-axis direction is the vertical direction;

[0044] determining a normal vector of the second disk according to the pitch rotation angle and the roll rotation angle;

[0045] Assuming that the center of the second disk is always at the origin, list the point normal plane equation according to the normal vector of the second disk;

[0046] Determine the second position coordinates of the projection point of the second end of the second servo electric cylinder on the second disk in the OXY plane and the third position coordinates of the projection point of the second end of the third servo electric cylinder on the second disk in the OXY plane;

[0047] Substituting the second position coordinate into the point normal plane equation to calculate the telescopic length of the second servo electric cylinder;

[0048] Substituting the third position coordinate into the point normal plane equation to calculate the telescopic length of the third servo electric cylinder;

[0049] The line between the installation position of the second servo electric cylinder and the center of the first turntable is perpendicular to the wheel guide rail; the line between the installation position of the third servo electric cylinder and the center of the first turntable is parallel to the wheel guide rail.

[0050] In some feasible embodiments, when the working machine motion information includes the chassis up and down motion speed, the pitch rotation angle, and the roll rotation angle, the step of converting the working machine motion information into the motion information of the working machine simulation cockpit motion platform further includes:

[0051] Calculate a second proportional value according to the up and down movement speed of the chassis and the maximum up and down movement speed of the chassis;

[0052] Calculate the synchronous extension and retraction length of each servo electric cylinder according to the second proportional value and the stroke of the servo electric cylinder;

[0053] Superimposing the telescopic length of the second servo electric cylinder with the corresponding synchronous telescopic length to obtain the coupled telescopic length of the second servo electric cylinder;

[0054] The telescopic length of the third servo electric cylinder is superimposed on the corresponding synchronous telescopic length to obtain the coupled telescopic length of the third servo electric cylinder.

[0055] In some feasible embodiments, the method also includes: if the telescopic length of the second servo electric cylinder and the telescopic length of the third servo electric cylinder are greater than the stroke of the servo electric cylinder, the telescopic length of the second servo electric cylinder and the telescopic length of the third servo electric cylinder are recalculated after proportionally reducing the roll rotation angle and the pitch rotation angle.

[0056] Through the above technical scheme, the working machinery simulation cockpit motion platform includes an advance and retreat motion component, a chassis yaw component and a rotation motion component, which can simulate the advance and retreat motion of the working machinery, the chassis yaw angle and the rotation motion of the vehicle body, wherein the vehicle body rotation motion includes the vehicle body pitch rotation, roll rotation and vehicle body rotation, which can simulate the motion of the six spatial degrees of freedom of the working machinery and the composite motion of any degree of freedom, and has a simple structure; the motion simulation method of the present application provides a simpler kinematic solution method, and motion simulation control is easier.

[0057] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0059] Figure 1 It is a three-dimensional schematic diagram of a simulated cockpit motion platform for an operating machine provided by an embodiment of the present invention;

[0060] Figure 2 It is a front view schematic diagram of a simulated cockpit motion platform for an operating machine provided by an embodiment of the present invention;

[0061] Figure 3 It is a front view schematic diagram of a working machinery simulated cockpit motion platform in a rolling state provided by an embodiment of the present invention;

[0062] Figure 4 It is a bottom view schematic diagram of the second turntable of the working machinery simulation cockpit motion platform provided by one embodiment of the present invention;

[0063] Figure 5 It is a flow chart of a method for simulating the motion of a simulated cockpit of an operating machinery provided in one embodiment of the present invention.

[0064] Description of Reference Numerals

[0065] 1-wheel guide, 2-wheel, 3-mobile platform, 4-first turntable, 5-1 first servo electric cylinder, 5-2-second servo electric cylinder, 5-3 third servo electric cylinder, 6-first disc, 7-second disc, 8-electric cylinder guide, 9-universal joint. DETAILED DESCRIPTION

[0066] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0067] In the embodiments of the present invention, unless otherwise specified, directional words such as "up, down, left, right" generally refer to the directions or positional relationships shown in the accompanying drawings, or the directions or positional relationships in which the inventive product is usually placed when in use.

[0068] The terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0069] The terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal, vertical or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0070] In addition, the terms "roughly" and "basically" are intended to explain that the relevant content does not require absolute precision, but can have certain deviations. For example, "roughly equal" does not only mean absolute equality. Since it is difficult to achieve absolute "equality" in actual production and operation, there are generally certain deviations. Therefore, in addition to absolute equality, "roughly equal" also includes the above-mentioned situation with certain deviations. Taking this as an example, in other cases, unless otherwise specified, the terms "roughly" and "basically" have similar meanings to the above.

[0071] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] The present application provides a working machine simulated cockpit motion platform, the working machine simulated cockpit motion platform comprising:

[0073] The forward and backward motion component is used to simulate the forward and backward motion of the working machine. In the embodiment of the present application, the so-called forward and backward motion refers to the forward and backward motion of the working machine during its walking process.

[0074] The chassis yaw assembly is installed on the forward and backward motion assembly and is used to simulate the yaw angle of the chassis of the working machine. In the embodiment of the present application, the chassis yaw refers to the chassis steering of the working machine.

[0075] The rotational motion component is installed on the chassis yaw component and is used to simulate the rotational motion of the working machine body. In the embodiment of the present application, the rotational motion of the body includes the up and down motion of the working machine, the pitch rotational motion, the roll rotational motion and the body rotation. Among them, the up and down motion of the working machine mainly refers to the up and down motion of the working machine when going up and downhill, the pitch rotational motion refers to the rotation of the working machine around its horizontal axis (pointing to the left side of the working machine); the roll rotational motion refers to the rotation of the working machine around its longitudinal axis (pointing to the forward direction of the working machine). Figure 1 As shown, the pitch rotation motion refers to the rotation of the working machine around the Y axis; the roll rotation motion refers to the rotation of the working machine around the X axis.

[0076] According to the above technical means, the working machinery simulation cockpit motion platform includes an advance and retreat motion component, a chassis yaw component and a rotation motion component, which can simulate the advance and retreat motion of the working machinery, the chassis yaw angle and the rotation motion of the vehicle body, wherein the vehicle body rotation motion includes the pitch rotation, roll rotation and rotation of the vehicle body, and can simulate the movement of the six spatial degrees of freedom of the working machinery and the compound motion of the combination of any degrees of freedom, and has a simple structure.

[0077] In some possible embodiments, please refer to Figure 1 , the forward and backward motion component comprises:

[0078] Wheel guide 1, used to simulate the forward and backward path of the working machine;

[0079] A wheel 2, mounted on the wheel guide rail, on which the wheel moves to simulate the forward and backward movement of the working machine;

[0080] The mobile platform 3 is mounted on the wheels and is used to install the rotary motion component.

[0081] like Figure 1As shown, in this embodiment, the wheel guide rail 1 used is two parallel wheel guide rails, the length of the two wheel guide rails is L, and the wheels installed below the mobile platform are installed on the wheel guide rails. There are four wheels, including a pair of driving wheels and a pair of driven wheels. The four wheels are installed at the four corners of the mobile platform respectively. When the driving wheel walks on the wheel guide rail, the driven wheel follows. In other embodiments, there can be two wheels, both of which are driving wheels, which are installed on the midline of the mobile platform perpendicular to the wheel guide rail. In this way, the driving wheel walks on the wheel guide rail, and the mobile platform translates as the driving wheel walks. In some other embodiments, the wheel guide rail can be a single wheel guide rail, and the wheels can be two, and the two wheels are arranged below the mobile platform along the direction of the wheel guide rail. The wheel can also be one, and one wheel is arranged at the center of the mobile platform. At the initial position, the center of the mobile platform is located at L / 2 of the wheel guide rail to ensure that the simulation can be simulated forward or backward at the beginning. The wheel guide rail and wheels are used to simulate the forward and backward movement of the working machinery, which is simple in structure and reduces costs.

[0082] In some possible embodiments, Figure 1 As shown, the chassis yaw assembly includes:

[0083] The first turntable 4 is installed on the mobile platform 3, and the center of the first turntable 4 coincides with the projection of the geometric center of the mobile platform 3 in the vertical direction; the first turntable 4 can rotate around the center to simulate the yaw angle of the operating machine chassis.

[0084] In some feasible embodiments, the rotational motion component includes:

[0085] At least three servo electric cylinders, the first ends of which are vertically fixedly mounted on the first turntable 4, one of which is mounted at the center of the first turntable, and the remaining servo electric cylinders are mounted at a preset distance from the center of the first turntable, and the angle formed by the connecting line between the mounting positions of two adjacent servo electric cylinders and the center of the first turntable is a right angle, and the connecting line between the mounting position of at least one servo electric cylinder and the center of the first turntable is parallel to the wheel guide rail, so as to simulate the pitch rotation movement and roll rotation movement of the working machine body through the extension and retraction of the servo electric cylinder;

[0086] The second turntable is installed at the second end of the servo electric cylinder to simulate the rotational movement of the working machine body when the servo electric cylinder is extended and retracted. The projection of the center of the second turntable in the vertical direction coincides with the center of the first turntable 4.

[0087] In one possible embodiment, if Figure 1 and Figure 2As shown, the rotary motion component includes: three servo electric cylinders, the first ends of the three servo electric cylinders are fixedly mounted on the first turntable 4, the first servo electric cylinder 5-1 is mounted at the center of the first turntable 4, the second servo electric cylinder 5-2 is mounted on the left side of the center, and the third servo electric cylinder 5-3 is mounted on the rear side of the center, so that the line between the installation position of the second servo electric cylinder 5-2 and the center of the first turntable 4 is perpendicular to the wheel guide rail 1, the line between the installation position of the third servo electric cylinder 5-3 and the center of the first turntable 4 is parallel to the wheel guide rail 1, the angle formed by the line between the installation position of the second servo electric cylinder 5-2 and the center of the first turntable 4 and the line between the installation position of the third servo electric cylinder 5-3 and the center of the first turntable 4 is a right angle, and the second servo electric cylinder 5-2 and the third servo electric cylinder 5-3 are mounted at a preset distance from the center of the first turntable 4.

[0088] In another feasible embodiment, the second servo electric cylinder 5-2 can be installed on the right side or the right side of the center of the circle, and the third servo electric cylinder 5-3 can be installed on the front side or the rear side of the center of the circle. The first end of the first servo electric cylinder 5-1, the first end of the second servo electric cylinder 5-2, and the first end of the third servo electric cylinder 5-3 are perpendicular to the first turntable 4. In this way, when the telescopic lengths of the first servo electric cylinder 5-1, the second servo electric cylinder 5-2, and the third servo electric cylinder 5-3 of the same model are the same, the second end of the first servo electric cylinder 5-1, the second end of the second servo electric cylinder 5-2, and the second end of the third servo electric cylinder 5-3 are perpendicular to the second turntable, and the first turntable 4 is parallel to the second turntable. When the telescopic lengths of the first servo electric cylinder 5-1, the second servo electric cylinder 5-2, and the third servo electric cylinder 5-3 of the same model are different, the second end of the first servo electric cylinder 5-1, the second end of the second servo electric cylinder 5-2, and the second end of the third servo electric cylinder 5-3 will no longer be perpendicular to the second turntable, and the second turntable will no longer be parallel to the first turntable 4.

[0089] In one feasible embodiment, the rotary motion assembly includes four servo electric cylinders, the first ends of the four servo electric cylinders are fixedly mounted on the first turntable, the first servo electric cylinder is mounted at the center of the first turntable, the second servo electric cylinder is mounted on the left side of the center, the third servo electric cylinder is mounted on the rear side of the center, and the fourth servo electric cylinder is mounted on the right side of the center. The installation position of the fourth servo electric cylinder is in a straight line with the center of the first turntable and the installation position of the first servo electric cylinder, and the second servo electric cylinder, the third servo electric cylinder and the fourth servo electric cylinder are installed at a preset distance from the center of the first turntable. Each servo electric cylinder is installed perpendicular to the first turntable.

[0090] In another feasible embodiment, the rotary motion assembly includes four servo electric cylinders, the first ends of the four servo electric cylinders are fixedly mounted on the first turntable, the first servo electric cylinder is mounted at the center of the first turntable, the second servo electric cylinder is mounted on the left side of the center, the third servo electric cylinder is mounted on the rear side of the center, the fourth servo electric cylinder is mounted on the front side of the center, the installation position of the fourth servo electric cylinder is in a straight line with the center of the first turntable and the installation position of the third servo electric cylinder, the second servo electric cylinder, the third servo electric cylinder and the fourth servo electric cylinder are mounted at a preset distance from the center of the first turntable. Each servo electric cylinder is mounted perpendicular to the first turntable.

[0091] In another feasible embodiment, the rotary motion assembly includes five servo electric cylinders, the first ends of the five servo electric cylinders are fixedly mounted on the first turntable, the first servo electric cylinder is mounted at the center of the first turntable, the second servo electric cylinder is mounted on the left side of the center, the third servo electric cylinder is mounted on the rear side of the center, the fourth servo electric cylinder is mounted on the front side of the center, the installation position of the fourth servo electric cylinder is in a straight line with the center of the first turntable and the installation position of the third servo electric cylinder, the fifth servo electric cylinder is mounted on the right side of the center, and the installation position of the fifth servo electric cylinder is in a straight line with the center of the first turntable and the installation position of the second servo electric cylinder. The second servo electric cylinder, the third servo electric cylinder, the fourth servo electric cylinder and the fifth servo electric cylinder are mounted at a preset distance from the center of the first turntable. Each servo electric cylinder is mounted vertically to the first turntable.

[0092] The stroke of the servo electric cylinder is M, and the initial state is M / 2. The different telescopic lengths of the servo electric cylinder are used to simulate the pitch rotation and roll rotation of the working machine body. The structure is simple and easy to control; the servo electric cylinder is perpendicular to the first turntable, and its telescopic direction is also vertical. Compared with the inclined installation, it is more labor-saving when simulating the body rotation. There is no need to consider the inclination angle of the servo electric cylinder itself during calculation, which makes the calculation more convenient.

[0093] In some other feasible embodiments, the angle formed by the line between the installation position of the servo electric cylinder and the center of the first turntable can be any angle, and there is no need to ensure that the line between the installation position of the servo electric cylinder and the center of the first turntable is parallel to the wheel guide rail, and it is only necessary to ensure that the second turntable is stable enough. In the subsequent simulation of the pitch rotation and roll rotation of the operating machine, this installation method also needs to consider the effect of the angle between the line between the installation position of the servo electric cylinder and the center of the first turntable and the wheel guide rail on the extension length of the servo electric cylinder when considering the pitch rotation angle and roll rotation angle of the operating machine itself.

[0094] In some feasible embodiments, the second turntable includes a first disk 6 and a second disk 7, the second disk 7 is arranged on the first disk 6, and the center of the first disk 6 coincides with the projection of the center of the second disk 7 in the vertical direction; the second disk 7 can rotate around the center.

[0095] In some possible embodiments, Figure 2 , Figure 3 and Figure 4 As shown, an electric cylinder guide rail 8 is provided on the bottom surface of the first disk 6, a slider on the electric cylinder guide rail 8 is fixedly connected to a universal joint 9, a second end of the servo electric cylinder is connected to the universal joint 9, and the slider can slide on the electric cylinder guide rail 8 when the servo electric cylinder is extended or retracted to adjust the inclination angle of the second turntable.

[0096] In one feasible embodiment, when there are three servo electric cylinders, for example, the first servo electric cylinder 5-1 is installed at the center of the first turntable 4, the second servo electric cylinder 5-2 is installed on the left side of the center, and the third servo electric cylinder 5-3 is installed on the rear side of the center. In order to achieve the pitch while the spatial position of the center of the second turntable remains unchanged, when the third servo electric cylinder 5-3 is extended, its second end needs to slide on the second turntable in the direction of the wheel guide 1. Therefore, the electric cylinder guide 8 corresponding to the third servo electric cylinder 5-3 is parallel to the wheel guide 1. In order to achieve the roll while the spatial position of the center of the second turntable remains unchanged, when the second servo electric cylinder 5-2 is extended, its second end needs to slide on the second turntable in a direction perpendicular to the wheel guide 1. Therefore, the electric cylinder guide 8 corresponding to the second servo electric cylinder 5-2 is perpendicular to the wheel guide 1. In other feasible embodiments, if there is a servo electric cylinder installed on the right side of the center of the circle, the electric cylinder guide rail of the servo electric cylinder is also perpendicular to the wheel guide rail; if there is a servo electric cylinder installed in front of the center of the circle, the electric cylinder guide rail of the servo electric cylinder is also parallel to the wheel guide rail.

[0097] The actual excavator body has six spatial degrees of freedom, including three degrees of freedom of movement, the vertical direction is passively moved by the terrain environment, and the excavator chassis has two active degrees of freedom of movement; three degrees of rotation, pitch and roll are passive rotations of the terrain environment, and yaw is the active rotation of the body rotating platform. The second aspect of the present application provides a method for simulating the motion of a simulated cockpit of an operating machine, which is used to convert the motion information of the operating machine into the motion of a simulated cockpit to simulate the position and posture of the operating machine. Figure 5 As shown, the method includes:

[0098] S1: Acquire the motion information of the working machine, the motion information of the working machine includes one or more of the horizontal motion speed of the chassis, the speed of the up and down motion of the chassis, the pitch rotation angle, the roll rotation angle, the body rotation angle, and the chassis rotation angle. Among them, the horizontal motion of the chassis corresponds to the forward and backward motion of the actual working machine, the up and down motion of the chassis corresponds to the up and down motion of the working machine, such as up and down slopes, the pitch rotation corresponds to the pitch of the working machine, the roll rotation corresponds to the body roll of the working machine, the body rotation corresponds to the body rotation of the actual working machine, and the chassis rotation corresponds to the chassis yaw of the actual working machine.

[0099] S2: Convert the motion information of the operating machine into the motion information of the motion platform of the operating machine simulation cockpit.

[0100] S3: Controlling the operation of the simulated cockpit motion platform of the operation machine according to the motion information to simulate the position and posture of the operation machine.

[0101] In some feasible embodiments, when the working machine motion information includes the horizontal motion speed of the chassis, the simulated cockpit motion platform can realize horizontal motion simulation by controlling the wheels to move on the guide rails. Since the range of motion of the simulated cockpit is limited, the moving distance x of the simulated cockpit motion platform corresponds to the horizontal motion speed v of the excavator chassis. f , the step of converting the working machine motion information into the motion information of the working machine simulation cockpit motion platform includes:

[0102] Calculate a first proportional value according to the horizontal movement speed of the chassis and the maximum horizontal movement speed of the chassis;

[0103] The moving distance of the forward and backward motion component is calculated according to the first proportional value and the length of the wheel guide rail. The calculation formula is as follows:

[0104]

[0105] Among them, v f is the horizontal movement speed of the chassis, L is the length of the wheel guide rail, max(v f ) is the maximum speed of the chassis horizontal movement. When the operating machine moves forward, v f is a positive number, when moving backwards v f Is a negative number.

[0106] When calculating the moving distance x of the simulated cockpit mobile platform, half of the length of the wheel guide is used to ensure that it can move forward or backward when needed, and quickly convert the horizontal movement of the operating machinery chassis to the simulated cockpit mobile platform, which is simple to calculate.

[0107] In some feasible embodiments, when the working machine motion information includes the up and down motion speed of the chassis, the simulated cockpit motion platform can realize the up and down motion simulation by controlling all servo electric cylinders to extend and retract simultaneously. Since the stroke of the servo electric cylinder is limited, the synchronous extension length z1 of the electric cylinder corresponds to the up and down motion speed v of the excavator chassis. u The step of converting the working machine motion information into the motion information of the working machine simulation cockpit motion platform includes:

[0108] Calculate a second proportional value according to the up and down movement speed of the chassis and the maximum up and down movement speed of the chassis;

[0109] The synchronous extension and retraction length of each servo electric cylinder is calculated according to the second proportional value and the stroke of the servo electric cylinder. The calculation formula is as follows:

[0110]

[0111] Wherein, vu is the up and down movement speed of the chassis, and M is the stroke of the servo electric cylinder. max(v u ) is the maximum speed of the chassis moving up and down, which is related to the maximum speed of the chassis moving horizontally and factors such as the slope. When the operating machine moves upward, v u is a positive number, when moving downward, v u When calculating the synchronous telescopic length z1 of each servo electric cylinder, half of the servo electric cylinder stroke is used to ensure that it can move when it needs to move up or down, and quickly convert the up and down movement of the operating machine chassis to the simulated cockpit motion platform, which is simple to calculate.

[0112] In some feasible embodiments, the simulated cockpit motion platform can achieve pitch motion simulation by controlling the servo electric cylinder located in the forward and backward directions. In this embodiment, only one servo electric cylinder in the forward and backward directions and only one servo electric cylinder in the vertical forward and backward directions are used as examples to illustrate the solution of a single pitch rotation. For a single pitch rotation, that is, when the working machine motion information includes a pitch rotation angle, the conversion of the working machine motion information into the motion information of the working machine simulated cockpit motion platform includes:

[0113] Calculate the difference z between the telescopic length of the first servo electric cylinder 5-1 and the telescopic length of the third servo electric cylinder 5-3 according to the pitch rotation angle 31 , the line between the installation position of the third servo electric cylinder 5-3 and the center of the first turntable 4 is parallel to the wheel guide rail 1, and the first servo electric cylinder 5-1 is installed at the center of the first turntable 4. The calculation formula is:

[0114] z 31 =Rtanβ;

[0115] in, R is the distance between the installation position of the third servo electric cylinder 5 - 3 and the center of the first turntable 4 , β is the pitch rotation angle, and M is the stroke of the servo electric cylinder.

[0116] Then, the telescopic length of the first servo electric cylinder 5-1 and the telescopic length of the third servo electric cylinder 5-3 are calculated according to the difference between the telescopic length of the first servo electric cylinder 5-1 and the telescopic length of the third servo electric cylinder 5-3. In one embodiment, the telescopic length of the first servo electric cylinder 5-1 can be fixed, and then the telescopic length of the first servo electric cylinder 5-1 can be calculated according to the difference z. 31 Determine the telescopic length of the third servo electric cylinder 5-3; the telescopic length of the third servo electric cylinder 5-3 can also be fixed, and then based on the difference z 31 The telescopic lengths of the first servo electric cylinder 5 - 1 and the second servo electric cylinder 5 - 2 are determined, wherein the telescopic length of the first servo electric cylinder 5 - 1 is the same as the telescopic length of the second servo electric cylinder 5 - 2 .

[0117] In a feasible embodiment, if there are two servo electric cylinders in the forward and backward directions, that is, one servo electric cylinder is installed in front of the center of the circle, and the other servo electric cylinder is installed in the rear of the center of the circle, when determining the difference z 31 In the case of, the telescopic length of the first servo electric cylinder at the center of the circle can be fixed, and then according to the difference z 31 Determine the telescopic length of the servo electric cylinder behind the center of the circle. The telescopic length of the servo electric cylinder in front of the center of the circle is opposite to that of the servo electric cylinder behind the center of the circle. That is, if the servo electric cylinder behind the center of the circle is extended z based on the initial position 31 , then the servo electric cylinder in front of the center of the circle is shortened by z based on the initial position 31 .

[0118] In some feasible embodiments, the simulated cockpit motion platform can achieve roll motion simulation by controlling a servo electric cylinder located perpendicular to the forward and backward directions, corresponding to the roll angle of the actual working machine. This embodiment takes only one servo electric cylinder perpendicular to the forward and backward directions as an example to illustrate the solution of a single roll rotation. When the working machine motion information includes the roll rotation angle, the conversion of the working machine motion information into the motion information of the working machine simulated cockpit motion platform includes:

[0119] Calculate the difference z between the telescopic length of the second servo electric cylinder 5-2 and the telescopic length of the first servo electric cylinder 5-1 according to the rolling rotation angle 21 , the line between the installation position of the second servo electric cylinder 5-2 and the center of the first turntable 4 is perpendicular to the wheel guide rail 1, and the first servo electric cylinder 5-1 is installed at the center of the first turntable 4. The calculation formula is:

[0120] z 21=Rtanα;

[0121] in, R is the distance between the installation position of the second servo electric cylinder 5 - 2 and the center of the first turntable 4 , α is the rolling rotation angle, and M is the stroke of the servo electric cylinder.

[0122] Then, the telescopic length of the second servo electric cylinder 5-2 and the telescopic length of the first servo electric cylinder 5-1 are calculated according to the difference between the telescopic length of the second servo electric cylinder 5-2 and the telescopic length of the first servo electric cylinder 5-1. In one embodiment, the telescopic length of the first servo electric cylinder 5-1 can be fixed, and then the telescopic length of the second servo electric cylinder 5-2 and the telescopic length of the first servo electric cylinder 5-1 can be calculated according to the difference z. 21 Determine the telescopic length of the second servo electric cylinder 5-2; the telescopic length of the second servo electric cylinder 5-2 can also be fixed, and then based on the difference z 21 The telescopic lengths of the first servo electric cylinder 5 - 1 and the third servo electric cylinder 5 - 3 are determined, wherein the telescopic length of the first servo electric cylinder 5 - 1 is the same as the telescopic length of the third servo electric cylinder 5 - 3 .

[0123] In a feasible embodiment, if there are two servo electric cylinders perpendicular to the forward and backward directions, that is, one servo electric cylinder is installed on the left side of the circle center and the other servo electric cylinder is installed on the right side of the circle center, when determining the difference z 21 In the case of, the telescopic length of the first servo electric cylinder at the center of the circle can be fixed, and then according to the difference z 21 Determine the telescopic length of the servo electric cylinder on the left side of the circle center. The telescopic length of the servo electric cylinder on the right side of the circle center is opposite to that of the servo electric cylinder on the left side of the circle center. That is, if the servo electric cylinder on the left side of the circle center is extended z based on the initial position 21 , then the servo electric cylinder on the right side of the circle center is shortened by z based on the initial position 21 .

[0124] In some feasible embodiments, the three servo electric cylinders of the simulated cockpit motion platform need to simulate both roll rotation and pitch rotation, so coupling control will occur. When the working machine motion information includes both the pitch rotation angle and the roll rotation angle, the working machine motion information is converted into the motion information of the working machine simulated cockpit motion platform, including:

[0125] Establish a coordinate system with the center of the second disk as the origin, such as Figure 1 As shown, the X-axis direction is parallel to the wheel guide rail, the Y-axis direction is perpendicular to the wheel guide rail, and the Z-axis direction is the vertical direction, with vertical upward being positive. In this embodiment, the forward direction of the wheel is the positive direction of the X-axis.

[0126] The normal vector of the second disk is determined according to the pitch rotation angle and the roll rotation angle. In the initial static state, the unit normal vector of the second disk is (0, 0, 1). After the roll rotation angle α and the pitch rotation angle β are performed, the new unit normal vector of the second disk is It is expressed as:

[0127]

[0128] Assuming that the center of the second disk is always at the origin (0, 0, 0), list the point normal plane equation based on the normal vector of the second disk:

[0129] sinβcosα·x-sinα·y+cosβcosα·z=0

[0130] Determine the second position coordinates of the projection point of the second end of the second servo electric cylinder on the second disk in the OXY plane and the third position coordinates of the projection point of the second end of the third servo electric cylinder on the second disk in the OXY plane, where the second position coordinates are (0, -R) and the third position coordinates are (-R, 0).

[0131] Substituting the second position coordinate into the point normal plane equation to calculate the telescopic length of the second servo electric cylinder;

[0132] Substituting the third position coordinate into the point normal plane equation to calculate the telescopic length of the third servo electric cylinder;

[0133] The line between the installation position of the second servo electric cylinder and the center of the first turntable is perpendicular to the wheel guide rail; the line between the installation position of the third servo electric cylinder and the center of the first turntable is parallel to the wheel guide rail.

[0134] In some feasible embodiments, when the working machine motion information includes the chassis up and down motion speed, the pitch rotation angle, and the roll rotation angle, the step of converting the working machine motion information into the motion information of the working machine simulation cockpit motion platform further includes:

[0135] Calculate a second proportional value according to the up and down movement speed of the chassis and the maximum up and down movement speed of the chassis;

[0136] Calculate the synchronous extension and retraction length of each servo electric cylinder according to the second proportional value and the stroke of the servo electric cylinder;

[0137] Superimposing the telescopic length of the second servo electric cylinder with the corresponding synchronous telescopic length to obtain the coupled telescopic length of the second servo electric cylinder;

[0138] The telescopic length of the third servo electric cylinder is superimposed on the corresponding synchronous telescopic length to obtain the coupled telescopic length of the third servo electric cylinder.

[0139] In some feasible embodiments, the method also includes: if the telescopic length of the second servo electric cylinder and the telescopic length of the third servo electric cylinder are greater than the stroke of the servo electric cylinder, the telescopic length of the second servo electric cylinder and the telescopic length of the third servo electric cylinder are recalculated after proportionally reducing the roll rotation angle and the pitch rotation angle.

[0140] In addition, the simulated cockpit motion platform can also simulate the yaw of the operating machinery chassis and the rotation of the body. By simulating the rotation of the first turntable of the cockpit motion platform according to the chassis rotation angle, the yaw angle of the operating machinery chassis can be simulated. By simulating the rotation of the second disc in the second turntable of the cockpit motion platform according to the body rotation angle, the body rotation of the actual operating machinery can be simulated.

[0141] In some feasible embodiments, the working machine simulation cockpit motion platform can be used to simulate working machines such as excavators.

[0142] Through the above technical scheme, the method for simulating the motion of the cockpit of the working machinery can simulate the forward and backward motion of the working machinery, the yaw angle of the chassis and the rotation motion of the vehicle body, wherein the vehicle body rotation motion includes the pitch rotation, roll rotation and rotation of the vehicle body, and can simulate the motion of the six spatial degrees of freedom of the working machinery and the composite motion of the combination of any degrees of freedom, with a simple structure; the motion simulation method of the present application provides a simpler kinematic solution method, and motion simulation control is easier.

[0143] Those skilled in the art will understand that all or part of the steps in the method for implementing the above-mentioned embodiments can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions for making a single-chip microcomputer, a chip or a processor (processor) perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0144] The optional embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the technical concept of the embodiments of the present invention, the technical scheme of the embodiments of the present invention can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0145] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A working machinery simulated cockpit motion platform, characterized in that: The operating machinery simulation cockpit motion platform comprises: The forward and backward motion component is used to simulate the forward and backward motion of the operating machinery; The chassis yaw assembly is installed on the forward and backward motion assembly to simulate the yaw angle of the operating machinery chassis; The rotary motion assembly is installed on the chassis yaw assembly and is used to simulate the rotary motion of the working machine body.

2. The operating machinery simulation cockpit motion platform according to claim 1, characterized in that: The forward and backward motion component comprises: Wheel guides, used to simulate the forward and backward paths of the operating machinery; A wheel mounted on the wheel guide rail, wherein the wheel moves on the wheel guide rail to simulate the forward and backward movement of the working machine; The mobile platform is mounted on the wheels and is used for mounting the rotary motion component.

3. The operating machinery simulation cockpit motion platform according to claim 2, characterized in that: The chassis yaw assembly comprises: The first turntable is installed on the mobile platform, and the center of the first turntable coincides with the projection of the geometric center of the mobile platform in the vertical direction; the first turntable can rotate around the center to simulate the yaw angle of the chassis of the working machine.

4. The operating machinery simulation cockpit motion platform according to claim 3, characterized in that: The rotary motion assembly comprises: At least three servo electric cylinders, wherein the first ends of the servo electric cylinders are vertically fixedly mounted on the first turntable, one of the servo electric cylinders is mounted at the center of the first turntable, and the remaining servo electric cylinders are mounted at a preset distance from the center of the first turntable, and the angle formed by the connecting line between the installation positions of two adjacent servo electric cylinders and the center of the first turntable is a right angle, and the connecting line between the installation position of at least one of the servo electric cylinders and the center of the first turntable is parallel to the wheel guide rail, and the pitch rotation movement and roll rotation movement of the working machine body are simulated by the extension and retraction of the servo electric cylinders; The second turntable is installed at the second end of the servo electric cylinder to simulate the rotational movement of the working machine body when the servo electric cylinder is extended and retracted. The projection of the center of the second turntable in the vertical direction coincides with the center of the first turntable.

5. The operating machinery simulation cockpit motion platform according to claim 4, characterized in that: The second turntable includes a first disk and a second disk, the second disk is arranged on the first disk, and the center of the first disk and the projection of the center of the second disk in the vertical direction coincide with each other; the second disk can rotate around the center.

6. The operating machinery simulation cockpit motion platform according to claim 5, characterized in that: An electric cylinder guide rail is provided on the bottom surface of the first disc, a slider on the electric cylinder guide rail is fixedly connected to the universal joint, the second end of the servo electric cylinder is connected to the universal joint, and the slider can slide on the electric cylinder guide rail when the servo electric cylinder is extended or retracted to adjust the inclination angle of the second turntable.

7. A method for simulating the motion of a simulated cockpit of an operating machine, characterized in that: The method comprises: Acquire the working machine movement information, wherein the working machine movement information includes one or more of the chassis horizontal movement speed, chassis up and down movement speed, pitch rotation angle, roll rotation angle, vehicle body rotation angle, and chassis rotation angle; Converting the working machine motion information into motion information of the working machine simulation cockpit motion platform described in any one of claims 1 to 6; The operation machine is controlled to simulate the action of the cockpit motion platform according to the motion information to simulate the position and posture of the operation machine.

8. The method for simulating the motion of a working machine cockpit according to claim 7, characterized in that: When the working machine motion information includes the horizontal motion speed of the chassis, the step of converting the working machine motion information into motion information of the working machine simulation cockpit motion platform includes: Calculate a first proportional value according to the horizontal movement speed of the chassis and the maximum horizontal movement speed of the chassis; The moving distance of the forward and backward motion component is calculated according to the first proportional value and the length of the wheel guide rail.

9. The method for simulating the motion of a simulated cockpit of a working machine according to claim 7, characterized in that: When the working machine motion information includes the up and down motion speed of the chassis, the step of converting the working machine motion information into motion information of the working machine simulation cockpit motion platform includes: Calculate a second proportional value according to the up and down movement speed of the chassis and the maximum up and down movement speed of the chassis; The synchronous extension and retraction length of each servo electric cylinder is calculated according to the second proportional value and the stroke of the servo electric cylinder.

10. The method for simulating the motion of a simulated cockpit of a working machine according to claim 7, characterized in that: When the working machine motion information includes a pitch rotation angle, the step of converting the working machine motion information into motion information of a working machine simulation cockpit motion platform includes: Calculating the difference between the telescopic length of the first servo electric cylinder and the telescopic length of the third servo electric cylinder according to the pitch rotation angle, the line between the installation position of the third servo electric cylinder and the center of the first turntable is parallel to the wheel guide rail, and the first servo electric cylinder is installed at the center of the first turntable; The telescopic length of the first servo electric cylinder and the telescopic length of the third servo electric cylinder are calculated according to the difference between the telescopic length of the first servo electric cylinder and the telescopic length of the third servo electric cylinder.

11. The method for simulating the motion of a working machine cockpit according to claim 7, characterized in that: When the working machine motion information includes a roll rotation angle, the step of converting the working machine motion information into motion information of a working machine simulation cockpit motion platform includes: Calculating the difference between the telescopic length of the second servo electric cylinder and the telescopic length of the first servo electric cylinder according to the rolling rotation angle, the line between the installation position of the second servo electric cylinder and the center of the first turntable is perpendicular to the wheel guide rail, and the first servo electric cylinder is installed at the center of the first turntable; The telescopic length of the second servo electric cylinder and the telescopic length of the first servo electric cylinder are calculated according to the difference between the telescopic length of the second servo electric cylinder and the telescopic length of the first servo electric cylinder.

12. The method for simulating the motion of a working machine cockpit according to claim 7, characterized in that: When the working machine motion information includes both the pitch rotation angle and the roll rotation angle, the step of converting the working machine motion information into motion information of the working machine simulation cockpit motion platform includes: A coordinate system is established with the center of the second disk as the origin, the X-axis direction is parallel to the wheel guide rail, the Y-axis direction is perpendicular to the wheel guide rail, and the Z-axis direction is the vertical direction; determining a normal vector of the second disk according to the pitch rotation angle and the roll rotation angle; Assuming that the center of the second disk is always at the origin, list the point normal plane equation according to the normal vector of the second disk; Determine the second position coordinates of the projection point of the second end of the second servo electric cylinder on the second disk in the OXY plane and the third position coordinates of the projection point of the second end of the third servo electric cylinder on the second disk in the OXY plane; Substituting the second position coordinate into the point normal plane equation to calculate the telescopic length of the second servo electric cylinder; Substituting the third position coordinate into the point normal plane equation to calculate the telescopic length of the third servo electric cylinder; The line between the installation position of the second servo electric cylinder and the center of the first turntable is perpendicular to the wheel guide rail; the line between the installation position of the third servo electric cylinder and the center of the first turntable is parallel to the wheel guide rail.

13. The method for simulating the motion of a simulated cockpit of a working machine according to claim 12, characterized in that: When the working machine motion information includes the chassis up and down motion speed, the pitch rotation angle and the roll rotation angle, the converting of the working machine motion information into the motion information of the working machine simulation cockpit motion platform also includes: Calculate a second proportional value according to the up and down movement speed of the chassis and the maximum up and down movement speed of the chassis; Calculate the synchronous extension and retraction length of each servo electric cylinder according to the second proportional value and the stroke of the servo electric cylinder; Superimposing the telescopic length of the second servo electric cylinder with the corresponding synchronous telescopic length to obtain the coupled telescopic length of the second servo electric cylinder; The telescopic length of the third servo electric cylinder is superimposed on the corresponding synchronous telescopic length to obtain the coupled telescopic length of the third servo electric cylinder.

14. The method for simulating the motion of a simulated cockpit of a working machine according to claim 12 or 13, characterized in that: The method also includes: if the telescopic length of the second servo electric cylinder and the telescopic length of the third servo electric cylinder are greater than the stroke of the servo electric cylinder, the telescopic length of the second servo electric cylinder and the telescopic length of the third servo electric cylinder are recalculated after proportionally reducing the roll rotation angle and the pitch rotation angle.

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