CN208284105U - Based on virtual reality and sterically defined distributed collaboration loading training simulation system - Google Patents
Based on virtual reality and sterically defined distributed collaboration loading training simulation system Download PDFInfo
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- CN208284105U CN208284105U CN201721558903.7U CN201721558903U CN208284105U CN 208284105 U CN208284105 U CN 208284105U CN 201721558903 U CN201721558903 U CN 201721558903U CN 208284105 U CN208284105 U CN 208284105U
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- training
- locating apparatus
- laser locating
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Abstract
The utility model provides one kind based on virtual reality and sterically defined distributed collaboration loading training simulation system, efficiently solves the problems, such as that only having one man operation or coorinated training to be difficult to substance in existing system carries out, is ineffective.The utility model lifting set remote-controller is connected to data acquisition control equipment, the data acquisition control equipment is connected to Training Control host, the space positioning apparatus is aobvious through scanning device virtual reality head, to obtain position and direction information, the wireless dummy reality head is aobvious to be passed device through the aobvious number of no the end of a thread for its direction, position and posture information and passes to Training Control host, and vision signal is passed device through the aobvious number of no the end of a thread and passes to wireless dummy reality head by the Training Control host to be shown；The Dual base stations laser locating apparatus is in the laser locating apparatus diagonally placed there are two having two groups, every group, and two groups of laser locating apparatus respectively constitute two simulated training spaces.
Description
Technical field
The utility model relates to special vehicle driver training, motion platform measurement and vision simulation application fields, especially
One kind being based on virtual reality and sterically defined distributed collaboration loading training simulation system.
Background technique
Heavy mechanical equipment filling operation suffers from extremely wide application in military and civilian field, but there is dress
It fills out manipulator and cultivates difficult, problem at high cost, talent's supply becomes bottleneck.During cooperateing with loading training, there is certain
Risk, especially just start the operator to undergo training, cooperate not tacit, equipment and operation are unfamiliar with,
Controlled when being easy to appear operation it is improper lead to excessive velocities, the too urgent situation of start and stop, or even there is maloperation, it is possible to cause tight
Weight consequence.
The loading training of large scale equipment collaboration at present mostly uses HWIL simulation collaboration loading training simulator and collaboration in kind
The method of loading training simulator, HWIL simulation cooperate with loading training simulator often through the letter of acquisition lifting set remote-controller
Number, the model sport in virtual scene is driven, and be automatically performed the operation of remaining personnel, main operation personnel are aobvious by viewing screen
Show, obtains operational feedback.This method due to participant it is seen that two-dimensional image, feeling of immersion is poor, and the visual angle observed
It is relatively fixed, it is not inconsistent with situation when practical operation, so training effect is by severely restricts, while only one man operation, to association
It is bad with training effect.Material object collaboration loading training simulator majority uses and real vehicle is loaded close to consistent operation cockpit, control
The method of control equipment, filling equipment, operation remote-control handle, filling object even in kind achievees the purpose that filling Skill Development,
It is good close to training effect with real vehicle manipulation environment, manipulation feel to have the advantages that, but there are at high cost, abrasion is big, filling is set
It prepares to make and requires disadvantage high, that efficiency-cost ratio is low.
Utility model content
For above situation, for the defect for overcoming the prior art, the utility model provides a kind of based on virtual reality and sky
Between the distributed collaboration loading training simulation system that positions, efficiently solve in existing system and there was only one man operation or collaboration instruction
Practice and is difficult to substantive development, ineffective problem.
The utility model includes lifting set remote-controller, data acquisition control equipment, wireless dummy reality head is aobvious, shows without the end of a thread
Number passes device, Dual base stations laser locating apparatus and Training Control host, which is characterized in that the lifting set remote-controller is connected to number
According to acquisition control equipment, the data acquisition control equipment is connected to Training Control host,
The space positioning apparatus is aobvious through scanning device virtual reality head, so that position and direction information is obtained, the nothing
Line virtual reality head is aobvious to pass to Training Control host, institute through the aobvious number biography device of no the end of a thread for its direction, position and posture information
It states Training Control host and vision signal passed into devices through the aobvious number of no the end of a thread passes to wireless dummy reality head and show；
The Dual base stations laser locating apparatus has two groups, every group there are two in the laser locating apparatus diagonally placed, two groups
Laser locating apparatus respectively constitutes two simulated training spaces；
It is equipped with chassis below the laser locating apparatus, the column of inner hollow, the column are fixed on the chassis
Upper end is coaxially fixed with sleeve, and the sleeve inward turning is screwed with screw rod, and rotating handles, the screw rod upper end are fixed on the screw rod
Damping rotary is connected with fixed plate, and the laser locating apparatus is fixed in fixed plate, and the laser locating apparatus rear portion is equipped with
It can change two barn doors of the laser locating apparatus angle of action.
Two barn doors are rotatably connected in fixed plate through Damping rotation shaft respectively.
The space positioning apparatus is Dual base stations laser locating apparatus.
Through wireless device transmissions between the data acquisition control equipment and virtual implementing helmet and lifting set remote-controller
Data.
The utility model obtains the aobvious spatial position and direction of wireless dummy reality head using space positioning apparatus, utilizes number
The operational motion signal that lifting set remote-controller is obtained according to acquisition control equipment, the information that wireless dummy reality head is shown, crane
The operation information of remote controler is transferred to Training Control host, and Training Control host is by driving the mould in virtual scene after processing
Type, and the 3-D image of virtual scene and audio signal are passed into device by the aobvious number of no the end of a thread and are transferred to wireless dummy reality head
Aobvious, trainee passes through the aobvious visual information and acoustic information for obtaining virtual scene of wireless dummy reality head.Present apparatus system letter
Number transmission delay is small, operating handle and practical consistent, and feeling of immersion is strong.It can carry out multi-person synergy training.
Detailed description of the invention
Fig. 1 is the utility model circuit diagram.
Fig. 2 is two groups of Dual base stations laser locating apparatus distribution maps of the utility model.
Fig. 3 is the support construction below the utility model laser locating apparatus.
Specific embodiment
Specific embodiment of the present utility model is described in further detail below in conjunction with attached drawing 1-3.
The technical solution of the utility model is, including lifting set remote-controller 1, data acquisition control equipment 2, wireless dummy are existing
Real head shows 3, passes device 4, Dual base stations laser locating apparatus 5 and Training Control host 6 without the aobvious number of the end of a thread, which is characterized in that described
Lifting set remote-controller 1 is connected to data acquisition control equipment 2, and the data acquisition control equipment 2 is connected to Training Control host
6,
The space positioning apparatus is through scanning wireless dummy reality head aobvious 3, so that position and direction information is obtained, the nothing
Its direction, position and posture information are passed device 4 through the aobvious number of no the end of a thread and pass to Training Control host 6 by line virtual reality head aobvious 3,
Vision signal is passed device 4 through the aobvious number of no the end of a thread and passes to wireless dummy reality head aobvious 3 by the Training Control host 6, described double
Base station laser locating apparatus 5 has two groups, and every group there are two in the laser locating apparatus 7 diagonally placed, two groups of laser locating apparatus 7
Respectively constitute two simulated training spaces；
It is equipped with chassis 8 below the laser locating apparatus 7, the column 9 of inner hollow is fixed on the chassis 8, it is described
9 upper end of column is coaxially fixed with sleeve 10, and 10 inward turning of sleeve is screwed with screw rod 11, is fixed with rotating handles on the screw rod 11
12, the 11 upper end damping rotary of screw rod is connected with fixed plate 13, and the laser locating apparatus 7 is fixed in fixed plate 13, institute
State 7 rear portion of laser locating apparatus be equipped with can change laser locating apparatus 7 angle of action, two barn doors 14.Rotating handles 12 are two
A straight-bar perpendicular to screw rod being symmetrically fixed on screw rod.
Two barn doors 14 are rotatably connected in fixed plate 13 through Damping rotation shaft 15 respectively.Two barn doors 14 can also
To be fixed in fixed plate 13, after determining the angle between two barn doors 14, can angle as required be fixed on
In fixed plate 13.When needing to adjust the angle of the transmitting laser of laser locating apparatus 7, two barn doors 14 are rotated, so that
The laser action angle that angle between two barn doors 14 suits the requirements.When in use, fixed when needing to adjust laser
When the height of position device 7, it is only necessary to which hand-held rotating handles 12 allow screw rod 11 to rotate in the internal screw thread of sleeve 10, so that screw rod
11 rise, and at this time if being not desired to influence the angle of laser locating apparatus, can help fixed plate 13 with another person's both hands
Guarantee that laser locating apparatus 7 does not rotate.When needing to rotate laser locating apparatus 7, come adjust laser locating apparatus 7 towards when,
Only need to rotate fixed plate 13,13 lower end of fixed plate is fixed with shaft, is fixed with damped sleeve, shaft in 11 upper end of screw rod
It is connected in damped sleeve and may make up damping rotary connection, due to being damping rotary connection, the angle of fixed plate 13 can
To position in real time.When needing to adjust the angle of action of laser locating apparatus 7, it is only necessary to rotate two barn doors 14, two shadings
The elongated surfaces cross spider of plate 14 is as 7 posterior center of laser locating apparatus, when the angle that two barn doors 14 are constituted is less than laser
When the angle of positioning device itself, the angle of barn door is exactly the actual angle of action of laser status device at this time.
During coorinated training, due to needing two groups of Dual base stations laser locating apparatus, and the sometimes space in room
Smaller, the sphere of action of existing Dual base stations laser locating apparatus is usually five meters and multiplies and need two groups when five meters, multiple person cooperational
Dual base stations laser locating apparatus, since the angle of Dual base stations positioning device is larger, two groups of laser locating apparatus collaborations
The problem of effect be easy to cause the intersection of laser scanning, and the intersection of laser scanning be easy to cause position inaccurate.Therefore this is practical
New design angle, height and towards adjustable device, for adjusting the angle, height and side of laser locating apparatus
To adapt to the training of multiple person cooperational.Two groups of Dual base stations laser locating apparatus constitute two groups of simulated training spaces, trainee point
Other places are trained in two simulated training spaces.
The space positioning apparatus is Dual base stations laser locating apparatus 5.
Through wireless device transmissions between the data acquisition control equipment and virtual implementing helmet and lifting set remote-controller
Data.Lifting set remote-controller line connects data acquisition control equipment, and wireless dummy reality head shows line and even passes device without the aobvious number of the end of a thread.
(1) lifting set remote-controller
Lifting set remote-controller uses actual load real vehicle remote controler, connects Training Control platform after installing data acquisition control equipment additional,
Simulation and the completely the same operating handle of actual load and operating experience, the data for simulation and operational motion to crane operation
It generates.
(2) data acquisition control equipment
According to the crane remote controller models of selection, using the acquisition control equipment of adaptation, for lifting set remote-controller
The signal of output is acquired and transmits, and the control signal that Training Control host generates is transferred to lifting set remote-controller.
(3) wireless dummy reality head is aobvious
Device is passed by the aobvious number of no the end of a thread and receives the virtual scene three-dimensional audio-visual information that Training Control host generates, and head
The position and attitude information of helmet passes device by the aobvious number of no the end of a thread and is transferred to Training Control host.
Wireless dummy reality head is aobvious to use 32 photoelectric sensors and locator, and 360 ° omni-directional is mobile, accurate band consumption
Person enters true virtual world；110 ° of big visual angles close to human eye, high definition 2160*1200 resolution ratio；90Hz high screen-refresh
Rate, adjustable distance of camera lens, adjustable interpupillary distance, sub- Millisecond precise positioning.Each infrared sensor corresponding position
All by small infrared fileter, these infrared windows can be such that infrared signal is more clear, and position more accurate.Wire/wireless
Tracking is accurately positioned in bimodulus, and head is aobvious in the rate high-velocity scanning localization region of 100 frame per second, 360 degree of moving tracings；Lower than 20MS
The solid space of delay positions；Synchronous movement is simply brought to feed back；Two only need to plug in synchronization can be completed.It is simple easy
With intuitive interaction.24 photoelectric sensors and locator, Multifunctional touching plate, grips button, easily manipulate virtual generation at trigger
All of boundary；Pro-skin material, super true mechanics feedback system；
On wireless dummy reality head is aobvious freely listen intelligent headband that can make to wear off the helmet is more easy, discount shows distribution of weight and puts down
Weighing apparatus, and built-in liner and Integral earphone.Using hard encasing material arrange in pairs or groups head easy to operate show size adjusting knob, can adjust height
The built-in Integral earphone of degree and angle, optimization head shows weight distribution and cable storage is more comfortably more convenient.Headband rear
Adjusting knob keeps the helmet more docile with head, and the weight distribution of inner liner and optimization makes wearing more comfortable, and it is more heavy to enjoy
The VR virtual reality experience of leaching.High-quality sound effect is followed one's bent, and sound is most important for the experience immersed.It freely listens in intelligent headband
Integral earphone is built, you is facilitated conveniently to enter into VR virtual reality.The adjustable height of earphone and angle, are bonded your ear
Piece, dismounting is also easy to；
(4) device is passed without the aobvious number of the end of a thread
For carrying out bidirectional data transfers with the wireless dummy reality helmet, the wireless of filling operator's loading training is realized
Change, reduces the yoke of wire cable.
Comprehensive laser scanning is carried out to zone of action using Lighthouse Dual base stations laser scanning station-keeping mode, is passed through
Location tracking sensor on the two laser sensors identification head (vacantly placed) on wall is aobvious, to obtain position and direction
Information；
The vision signal that Training Control host renders is not had to using 60GHz 802.11ad high speed millimeter wave transmission technology
Data encoding compression is directly wirelessly transferred, and is carried out within 20 meters of short distance to realize to the data of 1920*1080@90fps
It is wirelessly transferred, meets wireless dummy reality head and show transmission delay low (lower than 2ms), transmission bandwidth high (5-7Gbps), transmission reliably
The high basic demand of property.It is wirelessly transferred delay<2ms, whole delays time to control is within 20ms, transmission range>5m.Wireless external member tool
Have the aerial array and super large bandwidth of depth optimization, ensure that display experience with it is wired when it is completely the same, i.e., using wireless transmissions
Scheme also can guarantee that picture is no-delay；
The vision signal of Training Control host rendering does not have to data encoding and compresses directly wireless transmission, receives the aobvious end inertia of head
Sensor information；
The aobvious number of no the end of a thread pass device by the high-quality video data received carry out approximate real time picture rendering output to
Wireless dummy reality head is aobvious, while showing inertial sensor information with most short delay acquisition head and sending in a wireless form, for instruction
Practice control host video rendering and inertial attitude data are provided.Head is aobvious to calculate current visual angle output current visual angle according to inertial sensor
Panoramic picture, user, which can see, stablizes no-delay portal image, and just look like image locally generates in the helmet.Backstage at this time
Encoded video stream the helmet is constantly filled by wifi with the delay of < 20ms, calculated with completing the position of relatively high delay；
(5) space positioning apparatus
Positioning signal is provided for wireless dummy reality head is aobvious, determines that wireless dummy reality head shows the position and direction in space
Information.
Dual base stations laser positioning module carries out space orientation using the tracer technique of SteamVR world hegemony, possesses low prolong
Late, the characteristics such as submillimeter level accuracy and 360 degree of coverings.It either stands, be seated, or visited in a manner of walking about in space
Rope virtual world, VR virtual reality is forever by you as the center in the world.Lighthouse is made of two base stations: each base station
In have an infrared LED array, the Infrared laser emission device of two mutually perpendicular rotations of shaft.Revolving speed is the circle of 10ms mono-.Base
The working condition stood is such that 20ms is a circulation, and infrared LED glistens at the beginning of circulation, the rotation of X-axis in 10ms
Turn the inswept entire space of laser, Y-axis does not shine；The inswept entire space of the rotary laser of Y-axis, X-axis do not shine in lower 10ms.In base
Stand LED flash of light after will synchronization signal, then photosensitive sensor can measure X-axis laser and Y-axis laser arrives separately at
The time of sensor.This time is just exactly that X-axis and Y-axis laser go to that this is specific, light the angle of sensor when
Between, then sensor also just there is known relative to the X-axis and Y-axis angle of base station；It is distributed in the aobvious photosensitive biography on controller of head
The position of sensor is also known, and then passes through the alternate position spike of each sensor, so that it may calculate the position for lifting one's head aobvious and movement
Track；
70 photosensitive sensors are had more than on virtual reality head is aobvious.While laser is inswept, head is aobvious to be started counting, sensor
After receiving laser, using the relationship of sensor position and reception Laser Time, the accurate position relative to laser emitter is calculated
It sets.The photosensitive sensor that laser beam is hit in the same time is enough, can form the model of a 3D.It can not only detect and lift one's head
The position of helmet can also capture the direction of the helmet；
The advantage of laser positioning technology, first is that at low cost, relatively expensive infrared motion captures video camera, utilizes laser light
Tower carries out the cost of motion capture, and relatively low honest and clean it is enough.Second is that positioning accuracy is high, in the field VR, the positioning accuracy of superelevation is anticipated
Taste brilliant feeling of immersion.The precision of laser positioning scheme can achieve a millimeter rank, also just achieve virtual reality experience
Shake effect.
(6) Training Control host
For handling the operation information of lifting set remote-controller, and virtual scene is driven, the information of virtual scene is transferred to
Wireless dummy reality head is aobvious, data acquisition control equipment.Training Control host controls the coorinated training between multiple equipment.In order to
Increase arithmetic speed, a set of Training Control host can also be matched with each trainer, then training host is further added by a distribution
Formula cooperative system for Coordination Treatment, synchronizes the virtual scene information of each Training Control host.
The present invention is not limited solely to that the specific virtual reality head mentioned is aobvious and space positioning apparatus, can also use other
Virtual reality head with similar performance is shown and positioning device.Space positioning apparatus can also act on model using positioned light source is increased
The mode enclosed effectively is solved, and can simplify system in this way, can solve coorinated training only with a set of positioning device
The problem of light source orientation range deficiency.
Claims (2)
1. it is based on virtual reality and sterically defined distributed collaboration loading training simulation system, including lifting set remote-controller (1),
Data acquisition control equipment (2), wireless dummy reality head show (3), pass device (4), Dual base stations laser positioning dress without the aobvious number of the end of a thread
Set (5) and Training Control host (6), which is characterized in that it further include space positioning apparatus, lifting set remote-controller (1) connection
In data acquisition control equipment (2), the data acquisition control equipment (2) is connected to Training Control host (6),
The space positioning apparatus shows (3) through scanning wireless dummy reality head, so that position and direction information is obtained, it is described wireless
Virtual reality head shows (3) and its direction, position and posture information is passed to Training Control host through aobvious number biography device (4) of no the end of a thread
(6), vision signal is passed to wireless dummy reality head through aobvious number biography device (4) of no the end of a thread and shown by the Training Control host (6)
(3), the Dual base stations laser locating apparatus (5) has two groups, every group there are two in the laser locating apparatus (7) diagonally placed, two
Group laser locating apparatus (7) respectively constitutes two simulated training spaces；
Chassis (8) are equipped with below the laser locating apparatus (7), the column (9) of inner hollow is fixed on the chassis (8),
Column (9) upper end is coaxially fixed with sleeve (10), and sleeve (10) inward turning is screwed with screw rod (11), on the screw rod (11)
It is fixed with rotating handles (12), screw rod (11) upper end damping rotary is connected with fixed plate (13), the laser locating apparatus
(7) it is fixed on fixed plate (13), laser locating apparatus (7) rear portion, which is equipped with, can change laser locating apparatus (7) effect
Two barn doors (14) at angle.
2. according to claim 1 be based on virtual reality and sterically defined distributed collaboration loading training simulation system,
It is characterized in that, two barn doors (14) are rotatably connected on fixed plate (13) through Damping rotation shaft (15) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721558903.7U CN208284105U (en) | 2017-11-21 | 2017-11-21 | Based on virtual reality and sterically defined distributed collaboration loading training simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721558903.7U CN208284105U (en) | 2017-11-21 | 2017-11-21 | Based on virtual reality and sterically defined distributed collaboration loading training simulation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208284105U true CN208284105U (en) | 2018-12-25 |
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ID=64748190
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721558903.7U Expired - Fee Related CN208284105U (en) | 2017-11-21 | 2017-11-21 | Based on virtual reality and sterically defined distributed collaboration loading training simulation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109461348A (en) * | 2019-01-08 | 2019-03-12 | 辽宁科技大学 | A kind of music teaching training system based on VR system |
| CN112017498A (en) * | 2020-07-10 | 2020-12-01 | 福建省特种设备检验研究院 | Crane operator operation training system based on video acquisition and recognition technology |
| CN114424132A (en) * | 2019-09-19 | 2022-04-29 | 西门子能源环球有限责任两合公司 | System and method for providing digital replicas of a facility and corresponding computer program product |
-
2017
- 2017-11-21 CN CN201721558903.7U patent/CN208284105U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109461348A (en) * | 2019-01-08 | 2019-03-12 | 辽宁科技大学 | A kind of music teaching training system based on VR system |
| CN114424132A (en) * | 2019-09-19 | 2022-04-29 | 西门子能源环球有限责任两合公司 | System and method for providing digital replicas of a facility and corresponding computer program product |
| CN112017498A (en) * | 2020-07-10 | 2020-12-01 | 福建省特种设备检验研究院 | Crane operator operation training system based on video acquisition and recognition technology |
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Legal Events
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220712 Address after: No. 451, Huangshan Road, Shushan District, Hefei City, Anhui Province 230031 Patentee after: CHINESE PEOPLE'S LIBERATION ARMY ARMY ARTILLERY AIR DEFENSE ACADEMY Address before: 450000 No.22, 6th floor, unit 1, building 9, No.81, Yaochang Road, high tech Industrial Development Zone, Zhengzhou City, Henan Province Patentee before: HENAN HUANGYE TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181225 Termination date: 20211121 |
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| CF01 | Termination of patent right due to non-payment of annual fee |