Research On Visual Input System Of Parallel Robot On Hazardous Chemicals Transport Conditions

With the rapid development of industry, hazardous chemicals transportation safety has become increasingly important. This paper is one vital part of"Emulation and simulation of hazardous chemicals transportation condition"which is a sub-project of the state 863 key program. Aiming at the disadvantages of off-line simulation, the visible input system of parallel robot on hazardous chemicals transportation conditions has been established to achieve real-time signal input of motion simulator.Considering the manipulation inputs which impact vehicle motion state, the 4-DOF vehicle dynamics model which includes vehicle kinematics model and manipulation stability model has been established , and simulation research has also been carried out to verify rationality and effectiveness of the models. The models can supply the theoretical basis for the vehicle position and pose calculation in visual simulation system.In the virtual scene modeling of hazardous chemical transportation conditions, taking into account the requirement of real-time simulation, MultiGen Creator is applied to build the virtual scene which includes sky, roads, buildings, trees and traffic signs model and transportation canned car. The optimization technique of real-time vision is used to process the virtual scene to improve the instantaneity of scene generation.Based on MFC and Vega, the visual system of transportation conditions is established which can realize multi-channel, vision switching, collision detection, terrain following functions and also realize real-time data exchange with motion simulator. Collision detection is analyzed and the method of bounding volume hierarchy is used to achieve collision detection between active vehicles and automatically running vehicles.The visible input system of parallel robot on hazardous chemicals transportation conditions is set up, which includes the cockpit manipulation system, vehicle dynamics simulation system, transportation conditions visible system, signal acquisition system, singular calibration and communication system. To realize real-time input of motion simulator and synchronization between motion simulator and vehicle position and pose in the scene , the communication debugging between visible input system and motion simulator system is finished. The experiment results verify the fidelity, interactivity and immersion of the virtual transportation conditions visible simulation system.