【摘要】 挖掘机平地作业时，传统人工拉皮绳法测量地面轨迹存在主观性强、误差大、难以准确将轨迹数据化、可视化呈现，且地面作业轨迹不完全等于铲斗齿尖走过的轨迹，不宜据此片面分析作业特性。为此，利用Unity3D构建涵盖挖掘机数学模型、虚拟模型、机制仿真模型的在线评价平台。基于D-H参数法建立挖掘机驱动空间、关节空间、位姿空间的数学模型。在Unity3D中构建挖掘机虚拟体并配置UDP协议，通过实时传感器数据(实现虚实同步)或离线文本数据(实现逐时刻再现历史作业状态)驱动模型动作。同时，通过数学模型同步计算挖掘机的一系列运动学与动力学参数形成数据集，使铲斗齿尖每个轨迹点的位姿数据关联对应数据集，实现轨迹的数据化。基于关联数据集可分析平地段作业异常成因，并以平地高度标准差等指标客观评价平地效果。最后，通过配置平台数据接口融合基于SimulationX搭建的挖掘机高精度机电液联合仿真模型，同步输入先导操控信号，利用实时仿真结果补充整机液压系统压力、流量等关键参数，共同构成对平地效果评价与机制分析的数据基础。结果表明：实体挖掘机与虚拟体的动作延迟低于20 ms,虚拟体铲斗齿尖复现出的轨迹与数学模型理论正解结果一致，平地效果评价算法客观有效。更多还原

【Abstract】 When excavators are performing flatland operations, the traditional method of measuring the ground trajectory by manually pulling a string has problems such as strong subjectivity, large errors and difficulty in accurately digitizing and visualizing the trajectory data.Moreover, the ground operation trajectory does not completely equal the path traced by the tip of the excavator′s bucket teeth, making it inappropriate to analyze the operation characteristics based on this alone.Therefore, an online evaluation platform covering the mathematical model, virtual model and mechanism simulation model of the excavator was constructed using Unity3D.The mathematical models of the excavator′s driving space, joint space and pose space were established based on the D-H parameter method.A virtual body of the excavator was constructed in Unity3D and configured with the UDP protocol.The model was driven by real-time sensor data(to achieve synchronization between the virtual and the real) or offline text data(to reproduce the historical operation status at each moment).At the same time, the mathematical model was used to synchronously calculate a series of kinematic and dynamic parameters of the excavator to form a dataset, so that the pose data of each trajectory point of the bucket tip was associated with the dataset, achieving precise digitization of the trajectory.Based on the associated dataset, the causes of abnormal flatland operations could be analyzed, and the flatland effect could be objectively evaluated using indicators such as the standard deviation of the flatland height.Finally, a Unity3D data interface was configured to integrate the high-precision electromechanical-hydraulic joint simulation model of the excavator built based on SimulationX.The pilot control signals were synchronously input, and the real-time simulation results were used to supplement key parameters such as the pressure and flow of the entire hydraulic system, jointly forming the data basis for the evaluation of the flatland effect and mechanism analysis.The results show that the action delay between the real excavator and the virtual body is less than 20 ms, and the trajectory reproduced by the virtual body′s bucket tip is consistent with the theoretical solution of the mathematical model.The algorithm for evaluating the flatland effect is objective and effective.更多还原