CN107424463A - One kind parachute jumping simulation training system and parachute jumping simulated training method - Google Patents
One kind parachute jumping simulation training system and parachute jumping simulated training method Download PDFInfo
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- CN107424463A CN107424463A CN201710457900.2A CN201710457900A CN107424463A CN 107424463 A CN107424463 A CN 107424463A CN 201710457900 A CN201710457900 A CN 201710457900A CN 107424463 A CN107424463 A CN 107424463A
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- 238000012549 training Methods 0.000 title claims abstract description 68
- 230000009191 jumping Effects 0.000 title claims abstract description 45
- 238000004088 simulation Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 14
- 238000011156 evaluation Methods 0.000 claims abstract description 12
- 239000000725 suspension Substances 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000004886 head movement Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 238000009877 rendering Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 7
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- 230000008859 change Effects 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
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- 230000002159 abnormal effect Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D23/00—Training of parachutists
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Abstract
The invention discloses one kind parachute jumping simulation training system, mainly including hanger system, steerable system, innervational system, visual system, software systems, sound system, command and control system, evaluation system.In the suspension bracket and harness system of the present invention, after parachutist jumps out cabin, by manipulating band control heading, manipulate sensor and operation information is passed to computer, drive kinematic system after computing, there is provided Simulated.Simultaneously, computer export scenery picture is to head mounted display, there is provided immersive virtual environment.Teacher sets system primary condition by instructor station and each student is monitored.Present invention also offers the simulated training method using above-mentioned training equipment.Using present invention can ensure that the training of safety of parachute jumping personnel, greatly shortens cycle of training, and reduce parachuting training cost, can produce great military benefit, economic benefit and social benefit.
Description
Technical field
The invention belongs to technical field of virtual reality, and in particular to one kind parachute jumping simulation training system and parachute jumping simulation instruction
Practice method.
Background technology
Parachute jumping is dangerous higher activity, special circumstances such as occurs, or does not follow correct procedure, injury to personnel of parachuting
Or death by accident happens occasionally.When organizing actual load parachuting training, logistics support is difficult, the consuming time is more, cost input is big.Also
Limited by place and meteorological condition.
To improve training effectiveness, dangerous and accident is reduced, domestic and international paratrooper's training is all strengthening ground training.It is external advanced
Simulation parachuting training of the pedestrian in loop has just been entered in the nineties by country.Parachute jumping simulation training system can allow trainee virtual
It is trained in reality, all flows among true parachute jumping can be simulated completely, it is ensured that the training of safety for the personnel that parachute, greatly
It is big to shorten cycle of training, and reduce parachuting training cost.
The parachute jumping ground training in China is mainly diving tower, the training of umbrella tower, and also diving tower slideway is trained, training tool and foreign countries
Advanced country compares also certain gap.But external simulation training system is complicated, price is prohibitively expensive, and grasp
Instruction process complexity is cumbersome.
Therefore, advanced practical and cheap people is developed in the parachute jumping simulated training system in loop and exploitation phase
The parachute jumping simulated training method answered is imperative.
The content of the invention
The purpose of the present invention is precisely in order to deficiency existing in terms of filling up existing parachute jumping simulated training, there is provided one kind parachute jumping
Simulation training system and corresponding training method, meet the demand such as simple in construction, cheap, easy to operate.
The invention provides one kind parachute jumping simulated training method equipment, mainly including hanger system, steerable system, dynamic system
System, visual system, software systems, sound system, command and control system, evaluation system；
Hanger system connection support steerable system and innervational system, it is the integrated support structure of parachute jumping simulated training system,
Bear chutist's moment free-fall acceleration impact acceleration；
Steerable system includes manipulating load, manipulate sensor, harness system and manipulating band, and suspension bracket is arranged on by attachment structure
The top of system；
Innervational system includes motor, drive device and frame structure, the speed that is exported by real time computer control motor and
Acceleration；
Visual system includes 3D rendering adapter, Helmet Mounted Display；
The function of software systems, command and control system, evaluation system etc. is respectively by computer, computer interface, instructor station
It is common to complete；Computer includes master computer and graphic computer；Master computer mainly completes parachute kinetic model, motion
Model, the control of religion control platform, training scoring and signal acquisition；Graphic computer mainly completes the real-time generation of scenery picture.
Further, hanger system is made up of main body frame and simulation cabin springboard.
Further, the interface of installation steerable system and kinematic system is left at the top of main body frame, it is aobvious that monitoring is left in front portion
Show the mounting interface of device.
As preferred means, harness system includes two four suspension straps of advocating peace of fixed parachute jumping trainee, at four
Install spring damping and detector at the top of suspension strap additional, there is provided the rolling with damping is dynamic and detects direct manipulation of the parachutist to brace
Action.
As further preferred means, number of motors corresponds to each suspender belt connected on harness system.
As preferred means, using closed loop stepper motor, and select the decelerator progress of appropriate speed reducing ratio supporting.
As preferred means, Helmet Mounted Display is provided with high-precision 3DOF Helmet tracking device.
Present invention also offers one kind parachute jumping simulated training method, concrete operations are implemented in the following order：
Trainee is suspended on rigid support, is discharged main chute handle after being lined up out cabin, is emulated the release of main chute, directly beat
Drive parachute；
Trainee comes back and checks parachute-opening situation, observation left and right is adjacent, judges wind direction, finds landing field, afterwards using control loops
Umbrella is manipulated, control descent accurately lands；
Wherein,
Parachute feedback of the information enters visual display system, and provides opening acceleration and landing acceleration by innervational system
Degree；
Trainee pulls brace or changes center of gravity, is transmitted signal into computer by power displacement transducer；
Control loops connection in left and right manipulates the sensor in load, and measurement parachutist manipulates direction with stressing conditions and by signal
It is transmitted to master computer and what comes into a driver's computer；
Master computer calculates in real time according to the physical model of parachute with kinetic model and ambient parameter, by result of calculation
The drive device of innervational system is given, driving suspender belt motor rotates, and makes trainee's real time perception to speed at that time, accelerates
Degree；
Head level sensor tracking trainee's head movement, it is current with corresponding generation that head position information is inputted into what comes into a driver's computer
Scenery picture；
Then cooperating head position information provides the three-dimensional terrain information of what comes into a driver's to what comes into a driver's computer in real time, is exported by 3D video cards to head
Head mounted displays are presented to trainee；
The control action of trainee and effect provide scoring by Computer evaluation system.
Further, what comes into a driver's computer exports tertiary position of eye to instructor station, the controllable flight progress of teacher and parameter simultaneously.
Further, instructor station provides control stick, mouse, keyboard, touch-screen as control mode；Teacher is available accordingly to be set
Standby change shows scene, sets primary condition, and control stick can be used for changing visual angle.
Further, teacher makes trainee carry out emergency procedure training by teaching control platform that special circumstances can be set.
Further, instructor station can from tertiary position of eye trainee overall process.
In addition, by some foregoing parachute jumping simulation training systems, main body frame connection is formed into a set of parachute jumping simulation instruction
Practice system.
In the suspension bracket and harness system of the present invention, after parachutist jumps out cabin, by manipulating band control heading, manipulate
Operation information is passed to computer by sensor, drives kinematic system after computing, there is provided Simulated.Simultaneously, computer is defeated
Go out scenery picture to head mounted display, there is provided immersive virtual environment.Teacher sets system primary condition simultaneously by instructor station
Each student is monitored.
Using present invention can ensure that the training of safety of parachute jumping personnel, greatly shortens cycle of training, and reduce parachuting training
Cost, great military benefit, economic benefit and social benefit can be produced.
Brief description of the drawings
Fig. 1 is the parachute jumping simulation training system composition frame chart of the present invention；
Fig. 2 is a kind of composition schematic block diagram for simulated training system of parachuting；
Fig. 3 is the schematic flow sheet of the parachute jumping simulated training method of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
A kind of parachute jumping simulated training method of the present invention, based on a kind of following parachute jumping simulation training system, such as the institute of accompanying drawing 1
Show, the equipment is mainly controlled by hanger system, steerable system, innervational system, visual system, software systems, sound system, commander
System, evaluation system etc. form.
Hanger system is made up of main body frame and simulation cabin springboard, and simulation cabin springboard meets that trainee can be with original place
Mark time and jump off.Hanger system is the integrated support structure of parachute jumping simulated training system, bears the acceleration of chutist's moment freely falling body
Spend impact acceleration, connection support steerable system and innervational system.The system has enough intensity and rigidity, and easy to remove point
Solution and installation.Main body frame can be used alone, and also can be spliced into one group of use according to training hoc scenario.Further, main body
Framework can use and aggravate aluminium section bar, the interface of installation steerable system and kinematic system be left at top, monitoring display is left in front portion
The mounting interface of device.
Steerable system includes manipulating load, manipulate sensor, harness system and manipulating band, and suspension bracket is arranged on by attachment structure
The top of system.Manipulate sensor and be connected with manipulation band, manipulate end of tape and be provided with control loops.Participant is drawn according to what comes into a driver's scene
It is dynamic to manipulate with controlling and adjusting parachute flight, manipulate the sensation that load produces corresponding power according to manipulated variable and manipulation speed.
Preferably, harness system includes two four suspension straps of advocating peace of fixed parachute jumping trainee, on four suspension strap tops
Portion installs spring damping and detector additional, there is provided the rolling with damping is dynamic and detects direct control action of the parachutist to brace.
Innervational system is made up of motor, drive device and frame structure etc., the speed exported by real time computer control motor
Degree and acceleration.Optimal number of motors corresponds to each suspender belt connected on harness system.Computer controls each motor
Rotary state, simulate parachute up and down, the motion state such as tilt, tilt forward and back, jolting.Available motor driving
Mode has four kinds：DC servo, AC servo, open loop stepper motor, closed loop stepper motor.Closed loop step-by-step system collection servo and open
The advantages of ring stepping, overcome open loop step-by-step system lose step, power consumption be big, acceleration and deceleration bad dynamic performance, high-speed cruising not
The shortcomings that stable, also overcome shake when servo parameter adjusts complicated, static, the shortcomings that system cost is high.Therefore preferably
Closed loop driving stepper motor, and it is supporting from the decelerator progress of appropriate speed reducing ratio (such as 5).
Visual system includes 3D rendering adapter, Helmet Mounted Display etc., and emulation parachuting training scene is provided for participant.
Helmet Mounted Display is provided with high-precision 3DOF Helmet tracking device.Head mounted display can be shown using head position tracer technique
Comprehensive scenery picture, including parachute is looked up, the place of observation landing downwards, observation left and right neighbour etc..
The function of software systems, command and control system, evaluation system etc. is respectively by computer, computer interface, instructor station
It is common to complete.Computer includes master computer and graphic computer.Master computer mainly completes parachute kinetic model, motion
Model, the control of religion control platform, training scoring and signal acquisition.Graphic computer mainly completes the real-time generation of scenery picture.
Software systems mainly calculate kinematic system, what comes into a driver's system in real time according to operation information by the kinetic model of parachute
Information needed for system, command and control system.Command and control system is integrated in religion control platform, and main primary condition of completing sets and flown
Machine state, circuit, weather, special feelings etc. are set.Each participant state is monitored, the second monitoring interface shows that each participant is seen
Scenery picture, it may also provide the scenery picture of tertiary position of eye.Evaluation system establishes evaluation criterion according to study course requirement, and collection is undergone training
Person's control action information, provides scoring, as commenting on reference.
Sound system is not shown, main to provide the simulation of Aircraft Air flight noise, air-flow acoustic simulation and commander's call, mainly
It is made up of sound source, power amplifier, earphone, religion control platform Mike and microphone etc..
The basic functional principle of the parachute jumping analog training device of the present invention is that teacher sets system initial strip by instructor station
Part is simultaneously monitored to each student；Suspension is with harness system, after parachutist jumps out cabin, flight side is controlled by manipulating band
To operation information is passed to computer by manipulation sensor, drives kinematic system after computing, there is provided Simulated.Simultaneously, count
Calculation machine exports scenery picture to head mounted display, there is provided immersive virtual environment.
As shown in Fig. 2 can be by network system by the more real-time networkings of parachute jumping simulation training system, according to training tissue need
Situation, general optional 8~16 are one group, that is, form a set of parachute jumping simulated training system.Can be by each parachute jumping simulation training system
Main body frame assembling, splicing be integrated.
Concrete operations are implemented in the following order：
As shown in figure 3, trainee is suspended on rigid support, parachutist discharges main chute handle after being lined up out cabin, drives
Microswitch, the release of main chute is emulated, directly release a parachute and (due to equipment limit, parachute-opening motion process is omitted, only in what comes into a driver's
Emulated in system).
Trainee, which comes back, checks parachute-opening situation, continues observation left and right neighbour if parachute-opening normally, judges wind direction, finds and land
, umbrella is manipulated using control loops afterwards, control descent accurately lands.Parachute information will be fed into visual display
System, and provide opening acceleration and landing acceleration by innervational system.
Trainee pulls brace or changes center of gravity, is transmitted signal into computer by power displacement transducer, for motion
Model provides input.
Control loops connection in left and right manipulates the sensor in load, and measurement parachutist manipulates direction with stressing conditions and by signal
It is transmitted to master computer and what comes into a driver's computer.
Innervational system coordinates visual system to provide corresponding simulated scenario impression.Master computer is according to the physical model of parachute
Calculated in real time with kinetic model and ambient parameter, result of calculation is given to the drive device of innervational system, drive suspender belt motor
Rotate, make trainee's real time perception to speed at that time, acceleration.Head level sensor tracking trainee's head movement, will
Current scenery picture is accordingly produced after the information input what comes into a driver's computer of head position.
Then cooperating head position information provides the three-dimensional terrain information of what comes into a driver's to what comes into a driver's computer in real time, is exported by 3D video cards to head
Head mounted displays are presented to trainee.
What comes into a driver's computer exports tertiary position of eye and can control flight progress and parameter etc. to instructor station, teacher simultaneously.
Instructor station provides control stick, mouse, keyboard, touch-screen as control mode.Teacher can be changed aobvious with relevant device
Show scene, primary condition is set, control stick can be used for changing visual angle etc..Teacher by teach control platform can be set special circumstances, make by
Instruction personnel carry out emergency procedure training.As being provided with certain special feelings (such as main chute is abnormal), trainee then judges rapidly special
Feelings type, operation can be carried out and depart from main chute or delayed opening, then continue normal flow.There is no special feelings such as and there is provided certainly
Dynamic parachute-opening, parachute will automatically open up in setting time.Instructor station can also from tertiary position of eye trainee overall process.
The control action of trainee and effect will provide scoring by Computer evaluation system.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
The description to embodiment the invention is not restricted to more than, those skilled in the art according to disclosure of the present invention,
The creative work improvement and modification that be carried out need not be passed through on the basis of the present invention, all should protection scope of the present invention it
It is interior.
Claims (10)
1. one kind parachute jumping simulation training system, it is characterised in that：
Mainly include hanger system, steerable system, innervational system, visual system, software systems, sound system, commander's control system
System, evaluation system；
The hanger system connection support steerable system and innervational system, it is the integrated support structure of parachute jumping simulated training system,
Bear chutist's moment free-fall acceleration impact acceleration；
The steerable system includes manipulating load, manipulate sensor, harness system and manipulating band, and suspension bracket is arranged on by attachment structure
The top of system；
The innervational system includes motor, drive device and frame structure, the speed that is exported by real time computer control motor and
Acceleration；
The visual system includes 3D rendering adapter, Helmet Mounted Display；
The software systems, command and control system, the function of evaluation system are common by computer, computer interface, instructor station respectively
With completion；
The computer includes master computer and graphic computer；Master computer mainly completes parachute kinetic model, motion
Model, the control of religion control platform, training scoring and signal acquisition；Graphic computer mainly completes the real-time generation of scenery picture.
A kind of 2. parachute jumping simulation training system according to claim 1, it is characterised in that：
Hanger system is made up of main body frame and simulation cabin springboard.
A kind of 3. parachute jumping simulation training system according to claim 2, it is characterised in that：
The interface of installation steerable system and kinematic system is left at the top of main body frame, the installation that monitoring display device is left in front portion connects
Mouthful.
A kind of 4. parachute jumping simulation training system according to claim 1, it is characterised in that：
Harness system includes the two main braces and four suspension straps of fixed trainee, and spring is installed additional at the top of four suspension straps
Damping and detector, there is provided the rolling with damping is dynamic and detects direct control action of the trainee to main brace.
A kind of 5. parachute jumping simulation training system according to any one of claim 1 to 4, it is characterised in that：
Using closed loop stepper motor, and it is supporting from decelerator progress.
A kind of 6. parachute jumping simulation training system according to any one of claim 1 to 4, it is characterised in that：
Helmet Mounted Display is provided with high-precision 3DOF Helmet tracking device.
7. one kind parachute jumping simulated training method, the parachute jumping simulation training system based on any one of claim 1 to 6, specific behaviour
Implement in the following order：
Trainee is suspended on rigid support, is discharged main chute handle after being lined up out cabin, is emulated the release of main chute, directly opens drop
Fall umbrella；
Trainee comes back and checks parachute-opening situation, observation left and right is adjacent, judge wind direction, finds landing field, afterwards using control loops to umbrella
Manipulated, control descent accurately lands；
Wherein,
Parachute feedback of the information enters visual display system, and provides opening acceleration and landing acceleration by innervational system；
Trainee pulls brace or changes center of gravity, is transmitted signal into computer by power displacement transducer；
Left and right control loops connection manipulates the sensor in load, and measurement parachutist manipulates direction and is transmitted to stressing conditions and by signal
Master computer and what comes into a driver's computer；
Master computer is calculated in real time according to the physical model of parachute with kinetic model and ambient parameter, and result of calculation is given
The drive device of innervational system, driving suspender belt motor rotate, and make trainee's real time perception to speed at that time, acceleration；
Head level sensor tracking trainee's head movement, inputs what comes into a driver's computer accordingly to produce current what comes into a driver's by head position information
Image；
Then cooperating head position information provides the three-dimensional terrain information of what comes into a driver's to what comes into a driver's computer in real time, is exported by 3D video cards to wear-type
Display is presented to trainee；
The control action of trainee and effect provide scoring by Computer evaluation system.
A kind of 8. parachute jumping simulated training method according to claim 7, it is characterised in that：
What comes into a driver's computer exports tertiary position of eye to instructor station simultaneously.
A kind of 9. parachute jumping simulated training method according to claim 8, it is characterised in that：
Instructor station provides control stick, mouse, keyboard, touch-screen as control mode；Teacher can be changed with relevant device shows field
Scape, primary condition is set, control stick can be used for changing visual angle.
A kind of 10. parachute jumping simulated training method according to claim 8, it is characterised in that：
Teacher makes trainee carry out emergency procedure training by teaching control platform that special circumstances can be set.
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| CN107490983A (en) * | 2017-09-29 | 2017-12-19 | 中国船舶重工集团公司第七〇四研究所 | A kind of emulation mode for simulating parachute jumping full experience |
| CN110136534A (en) * | 2019-06-29 | 2019-08-16 | 西安六韬信息科技有限公司 | A kind of parachutist's simulation trainer |
| CN110782731A (en) * | 2019-11-11 | 2020-02-11 | 北京华如科技股份有限公司 | Digital parachute harness system for parachute landing simulation training |
| CN112562446A (en) * | 2020-12-30 | 2021-03-26 | 中国人民解放军95829部队空降兵研究所 | Real sense parachuting simulation training ware based on virtual reality |
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| CN110782731A (en) * | 2019-11-11 | 2020-02-11 | 北京华如科技股份有限公司 | Digital parachute harness system for parachute landing simulation training |
| CN112562446A (en) * | 2020-12-30 | 2021-03-26 | 中国人民解放军95829部队空降兵研究所 | Real sense parachuting simulation training ware based on virtual reality |
| CN113539003A (en) * | 2021-07-28 | 2021-10-22 | 中国人民解放军空军航空大学 | Virtual reality water parachute jumping simulation training implementation method and device |
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