CN105489083A - Two-degree-of-freedom 360-degree flight simulation cockpit simulation motion platform - Google Patents
Two-degree-of-freedom 360-degree flight simulation cockpit simulation motion platform Download PDFInfo
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- CN105489083A CN105489083A CN201610005445.8A CN201610005445A CN105489083A CN 105489083 A CN105489083 A CN 105489083A CN 201610005445 A CN201610005445 A CN 201610005445A CN 105489083 A CN105489083 A CN 105489083A
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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
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
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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
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/16—Ambient or aircraft conditions simulated or indicated by instrument or alarm
- G09B9/165—Condition of cabin, cockpit or pilot's accessories
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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
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/30—Simulation of view from aircraft
Abstract
The invention provides a two-degree-of-freedom 360-degree flight simulation cockpit simulation motion platform. The two-degree-of-freedom 360-degree flight simulation cockpit simulation motion platform includes an unmanned aerial vehicle, a ground cockpit, a first communication module, a second communication module, a first control module and a second control module; the unmanned aerial vehicle is provided with a pose sensor, the first communication module and the first control module, wherein the pose sensor is used for measuring the pitch angle and the left and right rotation angle of the unmanned aerial vehicle; and the first control module is connected with the pose sensor and the first communication module. According to the two-degree-of-freedom 360-degree flight simulation cockpit simulation motion platform of the invention, based on the prominent advantages of high safety and low cost of the unmanned aerial vehicle, flight experience similar to flight experience in the air can be obtained at the ground through using the real vision of the unmanned aerial vehicle, and a user can sense the fun of flying in the air. With the system adopted, a pilot can execute trial flight tasks of navigation aircrafts and complete a series of complex test tasks such as takeoff and landing tests, stall tests and flight envelope tests on the ground, and therefore, the security of trial flight personnel can be greatly guaranteed.
Description
Technical field
The present invention relates to flight simulation test, particularly, relate to a kind of two degrees of freedom 360 degree of flight simulation driving cabin simulating sports platforms.
Background technology
As the General Aviation industry of 21 century one of sunrise industry, the vital role in the national economic development highlights day by day, and the development environment of General Aviation industry is increasingly mature, in agricultural flight, forest extinguishing, aviation emergency management and rescue etc., have great demand.Meanwhile, prosperous and powerful civil aviation industry is had great importance.
Civil aviaton of the U.S. has aircraft 230,000 multi rack now, and wherein general aviation aircraft accounts for about 96%; Have pilot more than 70 ten thousand, wherein General Aviation Flight person accounts for the overwhelming majority; Organic field more than 1.75 ten thousand, airport of wherein opening the navigation or air flight accounts for about 96%.And the situation of China allows of no optimist under comparing, by the end of the year 2010, General Aviation airport, interim landing point have 329, wherein hold the General Aviation airport of civil airport occupancy permit, landing field 44, General Aviation opportunity airfield (landing point) 285.Overall Airport Resources is weaker, can not meet the fast development needs of General Aviation.Meanwhile, in the resource of spatial domain, China's spatial domain resource management and exploitation do not catch up with, spatial domain and air route resource scarcity.The air traffic control technology backwardness relatively of China, ATC Facilities is under-capitalized, and airspace management system is perfect not to the utmost, the common people reason such as to be unfamiliar with to use spatial domain program, limits the fast development of General Aviation.
China's navigation industry has huge development potentiality, about within 5 to 10 years, being increased to 10000 framves future, annual growth will reach 30%, pull industrial chain to develop the experience of 1:10 according to aviation, General Aviation will pull 10,000 hundred million demands in Future Ten year, will become China's socio-economic development new growth point.Again before 10 years and the car steering training industry of today, the future development of our just navigation not hard to imagine.But but the development of this industry receives the time, fund cost is large, spatial domain is examined, the restriction of the aspect factors such as weather and human resources shortage, the price of true aircraft of such as flying is per hour about 9000 Renminbi, the acquisition of business's photograph needs the training expenses of about 700,000, and two cards of spatial domain examination & approval have very complicated flow process etc.
If a kind of approach addressed these problems is exactly the driving cabin in aircraft can be moved on ground, manipulated in the face of aerial aircraft on ground by pilot, the driving cabin simultaneously on ground has again the sensation of airflight, as what comes into a driver's and body sense.
General thinking is so thus: a driving cabin that can operate aerospace plane or unmanned plane on the ground; Transmit true what comes into a driver's by aerial aircraft or unmanned plane and get back to driving cabin, obtain aerial true what comes into a driver's; Sensor records flight parameter transmission to moving platform, makes ground driving cabin obtain body sense.Allow driver in the driving cabin of ground, obtain the true what comes into a driver's of airflight, reduce the true body sense driven an airplane as far as possible.Ground flying simultaneously in turn ensure that security, economy.
Manipulate this of aerospace plane by ground driving cabin to remember with gratitude, the earliest with 1980 at the beginning of propose.The control rate of testing Rafale aircraft with A319 at that time.The method of this test is by carrying out the aerial A319 of remote control at the driving cabin on ground, testing the control rate on Rafale aircraft.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of two degrees of freedom 360 degree of flight simulation driving cabin simulating sports platforms.
According to two degrees of freedom provided by the invention 360 degree of flight simulation driving cabin simulating sports platforms, comprise unmanned plane, ground passenger cabin, the first communication module, the second communication module, the first control module and the second control module;
Wherein, described unmanned plane is provided with Position and attitude sensor, the first communication module and the first control module; Described Position and attitude sensor is for measuring the angle of pitch and the left and right swing angle of unmanned plane; Described first control module connects Position and attitude sensor and the first communication module;
Described ground passenger cabin comprises Cab body, luffing driver module and left-right rotation driver module; Described luffing driver module carries out luffing for driving described Cab body, and described left-right rotation driver module is for driving described Cab body left-right rotation;
Described second control module connects described luffing driver module, described left-right rotation driver module and the second communication module;
Described first control module is obtained the described angle of pitch and left and right swing angle and is sent by described first communication module; Described second control module receives the described angle of pitch and described left and right swing angle by described second communication module, and then control the rotation of described luffing driver module according to the described angle of pitch, control described left-right rotation driver module according to described left and right swing angle and rotate.
Preferably, described luffing driver module comprises fixing machine pallet, the first motor; Described left-right rotation driver module comprises passenger cabin kinematic mount frame, the second motor and passenger cabin support;
Described first motor is arranged on described fixing machine pallet; On described passenger cabin kinematic mount frame and described fixed frame table-hinges; Described first motor drives described passenger cabin kinematic mount frame to carry out pitch rotation;
The upper end of described passenger cabin support and the upper end medial surface of described passenger cabin kinematic mount frame hinged, the lower end inside face of lower end and described passenger cabin kinematic mount frame is hinged, thus described passenger cabin support can circumferentially rotate;
Described second motor is arranged on passenger cabin kinematic mount frame, and described second motor drives described passenger cabin support to be rotated; Described Cab body is arranged in described passenger cabin support.
Preferably, described fixing machine pallet comprises vertical connected base support portion and longitudinal bracing portion;
Described passenger cabin kinematic mount frame to be arranged in described longitudinal bracing portion and to be located at the upside of described base support portion.
Preferably, described first control module and/or described second control module adopt arduino single-chip microcomputer.
Preferably, also display is comprised;
Wherein, described display is arranged in the passenger cabin of described ground; Described second control module of described display electrical connection.
Preferably, described Position and attitude sensor comprises as any one in lower sensor or appoints multiple:
-acceleration transducer;
-Position and attitude sensor;
-torque sensor.
Preferably, also comprise crosswind analogue means, described second control module of described crosswind analogue means electrical connection, for simulating the wind speed that described unmanned plane is subject to.
Preferably, body monitoring device and warning device is also comprised;
Wherein, described second control module of described body monitoring device electrical connection; Described condition and the acceleration be subject to for the condition detecting simulated flight personnel and the accekeration be subject to, and are sent to described second control module with setting-up time threshold value by described body monitoring device;
Described second control module of described warning device electrical connection, when described condition is lower than setting threshold value, or when the acceleration be subject to is greater than setting threshold value, described warning device sends alerting signal;
Described condition to comprise in heart rate, respiratory rate and body temperature any one or appoints multiple.
Preferably, described passenger cabin support is cage type.
Preferably, also camera is comprised;
Multiple described camera is arranged on front end face and the two sides of described unmanned plane; Multiple described camera connects described first control module;
The image information of described camera collection is sent by described first communication module by described first control module; Described second control module receives described image information by described second communication module, and then described image information is sent to the broadcasting of described display.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention relies on unmanned plane security high, and the outstanding advantage that cost is low utilizes the true what comes into a driver's of unmanned plane, can obtain and flight experience close in the air, the enjoyment of Feel Flight in Action on ground; Rely on this system, pilot can perform the test mission of navigation flivver on ground, complete the test mission of the series of complexes such as landing of taking off, stall test, test flight envelope curve, flight test people's security is greatly ensured;
2, the transmission what comes into a driver's that the present invention can be real-time and flying quality, drive on ground in cabin and carry out image mosaic, Data Analysis process, pilot can obtain the what comes into a driver's with aerial practical operation on the ground, can extensive application be developed by means of the flight with true what comes into a driver's, fill up the application of navigation aircraft or perform hot mission;
3, in the present invention, ground cockpit structure is simple, rationally distributed, can realize 360 degree of rotations.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of ground passenger cabin in the present invention.
In figure:
1 is the second motor;
2 is the first motor;
3 is passenger cabin support;
4 is fixing machine pallet;
5 is passenger cabin kinematic mount frame.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
In the present embodiment, two degrees of freedom provided by the invention 360 degree of flight simulation driving cabin simulating sports platforms, comprise unmanned plane, ground passenger cabin, the first communication module, the second communication module, the first control module and the second control module;
Wherein, described unmanned plane is provided with Position and attitude sensor, the first communication module and the first control module; Described Position and attitude sensor is for measuring the angle of pitch and the left and right swing angle of unmanned plane; Described first control module connects Position and attitude sensor and the first communication module;
Described ground passenger cabin comprises Cab body, luffing driver module and left-right rotation driver module; Described luffing driver module carries out luffing for driving described Cab body, and described left-right rotation driver module is for driving described Cab body left-right rotation;
Described second control module connects described luffing driver module, described left-right rotation driver module and the second communication module;
Described first control module is obtained the angle of pitch and left and right swing angle and is sent by described first communication module; Described second control module receives the described angle of pitch and described left and right swing angle by described second communication module, and then control the rotation of described luffing driver module according to the described angle of pitch, control described left-right rotation driver module according to described left and right swing angle and rotate.
Described luffing driver module comprises fixing machine pallet 4, first motor 2; Described left-right rotation driver module comprises passenger cabin kinematic mount frame 5, second motor 1 and passenger cabin support 3;
Described first motor 2 is arranged on described fixing machine pallet 4; Described passenger cabin kinematic mount frame 5 cuts with scissors with described fixing machine pallet 4; Described first motor 2 drives described passenger cabin kinematic mount frame 5 to carry out pitch rotation;
The upper end of described passenger cabin support 3 and the upper end medial surface of described passenger cabin kinematic mount frame 5 hinged, the lower end inside face of lower end and described passenger cabin kinematic mount frame 5 is hinged, thus described passenger cabin support 3 can circumferentially rotate;
Described second motor is arranged on passenger cabin kinematic mount frame 5, and described second motor 1 drives described passenger cabin support 3 to be rotated; Described Cab body is arranged in described passenger cabin support 3.
Described fixing machine pallet 4 comprises vertical connected base support portion and longitudinal bracing portion;
Described passenger cabin kinematic mount frame 5 to be arranged in described longitudinal bracing portion and to be located at the upside of described base support portion.
Described first control module and/or described second control module adopt arduino single-chip microcomputer.
Two degrees of freedom provided by the invention 360 degree of flight simulation driving cabin simulating sports platforms, also comprise display;
Wherein, described display is arranged in the passenger cabin of described ground; Described second control module of described display electrical connection.
Two degrees of freedom provided by the invention 360 degree of flight simulation driving cabin simulating sports platforms, described Position and attitude sensor comprises as any one in lower sensor or appoints multiple:
-acceleration transducer;
-Position and attitude sensor;
-torque sensor.
Two degrees of freedom provided by the invention 360 degree of flight simulation driving cabin simulating sports platforms, also comprise crosswind analogue means, and described second control module of described crosswind analogue means electrical connection, for simulating the wind speed that described unmanned plane is subject to.
Two degrees of freedom provided by the invention 360 degree of flight simulation driving cabin simulating sports platforms, also comprise body monitoring device and warning device;
Wherein, described second control module of described body monitoring device electrical connection; Described condition and the acceleration be subject to for the condition detecting simulated flight personnel and the accekeration be subject to, and are sent to described second control module with setting-up time threshold value by described body monitoring device;
Described second control module of described warning device electrical connection, when described condition is lower than setting threshold value, or when the acceleration be subject to is greater than setting threshold value, described warning device sends alerting signal;
Described condition to comprise in heart rate, respiratory rate and body temperature any one or appoints multiple.
Two degrees of freedom provided by the invention 360 degree of flight simulation driving cabin simulating sports platforms, described passenger cabin support is cage type.
Two degrees of freedom provided by the invention 360 degree of flight simulation driving cabin simulating sports platforms, also comprise camera;
Multiple described camera is arranged on front end face and the two sides of described unmanned plane; Multiple described camera connects described first control module;
The image information of described camera collection is sent by described first communication module by described first control module; Described second control module receives described image information by described second communication module, and then described image information is sent to the broadcasting of described display.
The present invention is originally the system of one aircraft and driving cabin these two, splits into two relatively independent systems.Be used in the driving cabin on ground to manipulate aerial unmanned plane.The present invention obtains true what comes into a driver's at ground driving cabin, mainly wireless image transmission Technology application has been arrived the visual system part in flight simulation cabin.The visual system in flight simulation cabin was all pass through computer generated image in the past.The weak point of this virtual reality technology, subject matter describes true to nature not to in-plant scene, makes driver carry out decision height by scene and velocity ratio is more difficult.But along with the raising of the operational speed of a computer and the expansion of capacity, the scene of description also will be more and more finer and smoother, and more and more true to nature, the problems referred to above will progressively be resolved.
But computer generated image is the what comes into a driver's simulated all the time, even if the degree of freedom by moving cabin simulator cockpit, a kind of real flying feel also can not be built, because vision is main impression.The flight simulation cabin made a general survey of now is be all the what comes into a driver's part adopting virtual reality technology to be done boiler-plate by computer generated image mostly.But wireless image transmission technology is widely used in the unmanned plane or model plane flight that unmanned plane or model plane realize first person already.In addition, wireless image transmission technology is also used in tele-medicine, criminal investigation aspect, and has significant role.
The present invention maneuverability of unmanned plane Reality simulation aircraft and operation feeling aspect, can coordinate the viewed maneuverability of what comes into a driver's in addition, or the maneuverability that body sense is felt.And that accomplishes to operate unmanned plane and true aircraft feels close.By the flight quality of unmanned plane Reality simulation aircraft, at home and abroad almost also without carried out, because this limitation and unmanned plane itself.
And the present invention makes emphatically unmanned plane start with to the maneuverability of true aircraft is similar to operation feeling, from flying vehicles control equation.Simplified analysis, carries out theoretical analysis from unmanned plane and true aircraft with this one side of angular acceleration.Sum up manipulation unmanned plane voluntarily and manipulate the operation transformation matrices needed between true aircraft.Last flight by experiment again improves the similar confidence level of these flying feels.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. two degrees of freedom 360 degree of flight simulation driving cabin simulating sports platforms, is characterized in that, comprise unmanned plane, ground passenger cabin, the first communication module, the second communication module, the first control module and the second control module;
Wherein, described unmanned plane is provided with Position and attitude sensor, the first communication module and the first control module; Described Position and attitude sensor is for measuring the angle of pitch and the left and right swing angle of unmanned plane; Described first control module connects Position and attitude sensor and the first communication module;
Described ground passenger cabin comprises Cab body, luffing driver module and left-right rotation driver module; Described luffing driver module carries out luffing for driving described Cab body, and described left-right rotation driver module is for driving described Cab body left-right rotation;
Described second control module connects described luffing driver module, described left-right rotation driver module and the second communication module;
Described first control module is obtained the described angle of pitch and left and right swing angle and is sent by described first communication module; Described second control module receives the described angle of pitch and described left and right swing angle by described second communication module, and then control the rotation of described luffing driver module according to the described angle of pitch, control described left-right rotation driver module according to described left and right swing angle and rotate.
2. two degrees of freedom according to claim 1 360 degree of flight simulation driving cabin simulating sports platforms, it is characterized in that, described luffing driver module comprises fixing machine pallet, the first motor; Described left-right rotation driver module comprises passenger cabin kinematic mount frame, the second motor and passenger cabin support;
Described first motor is arranged on described fixing machine pallet; On described passenger cabin kinematic mount frame and described fixed frame table-hinges; Described first motor drives described passenger cabin kinematic mount frame to carry out pitch rotation;
The upper end of described passenger cabin support and the upper end medial surface of described passenger cabin kinematic mount frame hinged, the lower end inside face of lower end and described passenger cabin kinematic mount frame is hinged, thus described passenger cabin support can circumferentially rotate;
Described second motor is arranged on passenger cabin kinematic mount frame, and described second motor drives described passenger cabin support to be rotated; Described Cab body is arranged in described passenger cabin support.
3. two degrees of freedom according to claim 2 360 degree of flight simulation driving cabin simulating sports platforms, is characterized in that, described fixing machine pallet comprises vertical connected base support portion and longitudinal bracing portion;
Described passenger cabin kinematic mount frame to be arranged in described longitudinal bracing portion and to be located at the upside of described base support portion.
4. two degrees of freedom according to claim 1 360 degree of flight simulation driving cabin simulating sports platforms, is characterized in that, described first control module and/or described second control module adopt arduino single-chip microcomputer.
5. two degrees of freedom according to claim 1 360 degree of flight simulation driving cabin simulating sports platforms, is characterized in that, also comprise display;
Wherein, described display is arranged in the passenger cabin of described ground; Described second control module of described display electrical connection.
6. two degrees of freedom according to claim 1 360 degree of flight simulation driving cabin simulating sports platforms, is characterized in that, described Position and attitude sensor comprises as any one in lower sensor or appoints multiple:
-acceleration transducer;
-Position and attitude sensor;
-torque sensor.
7. two degrees of freedom according to claim 1 360 degree of flight simulation driving cabin simulating sports platforms, it is characterized in that, also comprise crosswind analogue means, described second control module of described crosswind analogue means electrical connection, for simulating the wind speed that described unmanned plane is subject to.
8. two degrees of freedom according to claim 1 360 degree of flight simulation driving cabin simulating sports platforms, is characterized in that, also comprise body monitoring device and warning device;
Wherein, described second control module of described body monitoring device electrical connection; Described condition and the acceleration be subject to for the condition detecting simulated flight personnel and the accekeration be subject to, and are sent to described second control module with setting-up time threshold value by described body monitoring device;
Described second control module of described warning device electrical connection, when described condition is lower than setting threshold value, or when the acceleration be subject to is greater than setting threshold value, described warning device sends alerting signal;
Described condition to comprise in heart rate, respiratory rate and body temperature any one or appoints multiple.
9. two degrees of freedom according to claim 1 360 degree of flight simulation driving cabin simulating sports platforms, it is characterized in that, described passenger cabin support is cage type.
10. two degrees of freedom according to claim 5 360 degree of flight simulation driving cabin simulating sports platforms, is characterized in that, also comprise camera;
Multiple described camera is arranged on front end face and the two sides of described unmanned plane; Multiple described camera connects described first control module;
The image information of described camera collection is sent by described first communication module by described first control module; Described second control module receives described image information by described second communication module, and then described image information is sent to the broadcasting of described display.
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| CN201610005445.8A CN105489083A (en) | 2016-01-05 | 2016-01-05 | Two-degree-of-freedom 360-degree flight simulation cockpit simulation motion platform |
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| CN106128209A (en) * | 2016-08-29 | 2016-11-16 | 苏州哈工众志自动化科技有限公司 | A kind of cable traction virtual reality flying aids |
| CN106803385A (en) * | 2017-04-09 | 2017-06-06 | 中国人民解放军空军航空大学飞行研究所 | Assessment system is examined in a kind of flight supplemental training |
| CN107680445A (en) * | 2017-11-17 | 2018-02-09 | 无锡莱特杰米科技发展有限公司 | A kind of teaching experiment platform for being used to test unmanned plane sensor |
| CN110827611A (en) * | 2019-11-29 | 2020-02-21 | 桂林电子科技大学 | Unmanned aerial vehicle comprehensive experiment platform with adjustable degree of freedom and capability of simulating external environment |
| CN110930812A (en) * | 2019-10-18 | 2020-03-27 | 深圳威阿科技有限公司 | Control system for airplane simulation cockpit |
| CN111510681A (en) * | 2020-04-23 | 2020-08-07 | 新石器慧通（北京）科技有限公司 | Video processing method and device for unmanned vehicle, terminal equipment and storage medium |
| CN113050669A (en) * | 2017-04-07 | 2021-06-29 | 深圳市大疆创新科技有限公司 | Control method, processing device, processor, aircraft and somatosensory system |
| CN114063439A (en) * | 2021-11-12 | 2022-02-18 | 吴李海 | Motion state synchronous re-engraving system and motion synchronous re-engraving method for moving body |
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| CN110930812A (en) * | 2019-10-18 | 2020-03-27 | 深圳威阿科技有限公司 | Control system for airplane simulation cockpit |
| CN110827611A (en) * | 2019-11-29 | 2020-02-21 | 桂林电子科技大学 | Unmanned aerial vehicle comprehensive experiment platform with adjustable degree of freedom and capability of simulating external environment |
| CN110827611B (en) * | 2019-11-29 | 2021-10-29 | 桂林电子科技大学 | Unmanned aerial vehicle comprehensive experiment platform with adjustable degree of freedom and capability of simulating external environment |
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| CN114063439A (en) * | 2021-11-12 | 2022-02-18 | 吴李海 | Motion state synchronous re-engraving system and motion synchronous re-engraving method for moving body |
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