| 基于虚拟交互的虚拟挖掘机操作系统研究 |
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| 引用本文： | 宗安汉,贺利乐,王卫军,张弓,王坛,徐杰. 基于虚拟交互的虚拟挖掘机操作系统研究[J]. 机械设计与研究, 2020, 36(2): 175-180 |
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| 作者姓名： | 宗安汉 贺利乐 王卫军 张弓 王坛 徐杰 |
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| 作者单位： | 西安建筑科技大学 机电工程学院,西安710055;广州中国科学院先进技术研究所,广州511458;西安建筑科技大学 机电工程学院,西安710055;广州中国科学院先进技术研究所,广州511458 |
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| 基金项目： | 深圳市海外高层次人才资金;国家科技重大专项;国家重点研发计划;广东省引进创新创业团队专项;东莞市重大专项;广东省自然科学基金 |
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| 摘 要： | 针对挖掘机驾驶培训困难的窘境,开发了一套基于虚拟交互的虚拟挖掘机操作系统。该系统以Stewart平台为运动平台,结合VR技术,通过人操作一对手柄控制虚拟挖掘机的行走和工作,以模拟真实挖掘机。建立了Stewart平台的运动学反解模型并应用洗出算法,运动平台可以良好地模拟挖掘机前进、后退、转向、倾斜等状态。邀请了多位志愿者操作本系统并模拟现实挖掘任务,工作效率可提升约26%,表明该系统可为挖掘机驾驶训练问题提供新思路。
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| 关 键 词： | 挖掘机 虚拟交互 VR 洗出算法 |
Research on Virtual Excavator Operating System Based on Virtual Interaction |
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| ZONG Anhan,HE Lile,WANG Weijun,ZHANG Gong,WANG Tan,XU Jie. Research on Virtual Excavator Operating System Based on Virtual Interaction[J]. Machine Design and Research, 2020, 36(2): 175-180 |
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| Authors: | ZONG Anhan HE Lile WANG Weijun ZHANG Gong WANG Tan XU Jie |
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| Affiliation: | (School of Mechanical and Electrical Engineering,Xi’an University of Architectural Science and Technology,Xi’an 710055,China;Guangzhou Institutes of Advanced Technology,Chinese Academy of Sciences,Guangzhou 511458,China) |
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| Abstract: | In view of the difficulty of driving training for excavators,a virtual excavator operating system based on virtual interaction is developed.The Stewart platform used as the motion platform,combined with VR technology,to control the walking and working of the virtual excavator by manipulating a pair of handles to simulate a real excavator.The kinematics inverse model of the Stewart platform is established and the washout algorithm is applied.The motion platform can simulate the forward,backward,steering and tilting of the excavator.A number of volunteersinvited to operate the system and simulate real-world mining tasks,the work efficiency can be improved by about 26%,indicating that the system can provide new ideas for excavator driving training problems. |
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| Keywords: | excavator virtual interaction VR washout algorithm |
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