CN106448330A - Electromechanical system for virtual driving, and control method of the same - Google Patents
Electromechanical system for virtual driving, and control method of the same Download PDFInfo
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- CN106448330A CN106448330A CN201611041389.XA CN201611041389A CN106448330A CN 106448330 A CN106448330 A CN 106448330A CN 201611041389 A CN201611041389 A CN 201611041389A CN 106448330 A CN106448330 A CN 106448330A
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- control system
- wearable display
- deflection angle
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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
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- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
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Abstract
The invention discloses an electromechanical system for virtual driving, and a control method of the same. The electromechanical system for virtual driving, and the control method of the same can realize that a user can use wearable display equipment to perform virtual driving, and can be conductive to improving the user experience. Based on an existing virtual driving electromechanical system, the electromechanical system for virtual driving also includes wearable display equipment with a gyroscope, and a horizontal turntable, wherein the wearable display equipment is connected with a control system to send the horizontal deflection angle information of the wearable display equipment to the control system; the horizontal turntable is connected with the lower part of a multi freedom platform, and is connected with the control system; and the control system is also used for controlling the visual angle of the scene displayed by the wearable display equipment according to the horizontal deflection angle information of the wearable display equipment and the information output from a steering wheel.
Description
Technical field
The present invention relates to field of electromechanical technology, more particularly to a kind of Mechatronic Systems and its controlling party for virtual driving
Method.
Background technology
The system of virtual driving can be applied at the aspect such as driving instruction or game.Virtual driving system of the prior art
Mainly there are steering wheel, gas pedal, brake pedal, seat, multi-DOF platform, control system and execution system in system.Figure
1 be according to a kind of schematic diagram of the key component of virtual driving system of the prior art.As shown in figure 1, seat 11 is pacified
It is mounted on multi-DOF platform 12；Steering wheel 13, gas pedal 14 and brake pedal 15 are connected with control system 16；Control system
System 16 is connected with execution system 17, for the signal sent according to steering wheel 13, gas pedal 14 and brake pedal 15 to holding
Row system 17 is controlled；Execution system 17 is connected with multi-DOF platform 12, for changing under the control of control system 16
The attitude of multi-DOF platform 12.
Control system 16 includes calculation processing apparatus and multiple analog/digital conversion devices.These analog/digital conversion devices respectively with
Above-mentioned steering wheel 13, gas pedal 14 and brake pedal 15 connect, and are connected with calculation processing apparatus.Analog/digital conversion is filled
Putting the analog quantity sent by steering wheel 13, gas pedal 14 and brake pedal 15 carries out the sampling of such as 50 times per second, then
Be converted to digital quantity and be then forwarded to calculation processing apparatus.Calculation processing apparatus are used for being sent according to these analog/digital conversion devices
Digital quantity, sends control signal to execution system, and common personal computer and controller can be adopted to process dress to constitute to calculate
Put.
Wearable display device has obtained increasing application in recent years, and VR (virtual reality) helmet or VR glasses are
Wherein common kind.Wearable display device has display element i.e. screen, and also with the devices such as gyroscope, Neng Goujian
Survey some motions of wearer.Current Wearable display device is commonly used to provide the visual scene in virtual reality.Such as
What extends the range of application of Wearable display device, becomes current research and application concern.
Content of the invention
The main object of the present invention is to provide for a kind of Mechatronic Systems for virtual driving and its control method, Neng Goushi
Virtual driving is carried out during existing user's application Wearable display device, be favorably improved Consumer's Experience.
For reaching above-mentioned purpose, according to an aspect of the invention, there is provided a kind of Mechatronic Systems for virtual driving.
The Mechatronic Systems for virtual driving of the present invention, the Mechatronic Systems includes that steering wheel, gas pedal, brake are stepped on
Plate, seat, multi-DOF platform, control system and execution system, wherein：The seat is flat installed in the multiple degrees of freedom
On platform；The steering wheel, gas pedal and brake pedal are connected with the control system；The control system and the execution
System connects, and the signal for being sent according to the steering wheel, gas pedal and brake pedal is carried out to the execution system
Control；The execution system is connected with the multi-DOF platform, described many for changing under the control of the control system
The attitude of degree of freedom platform；The Mechatronic Systems also includes Wearable display device and the horizontal rotating disc with gyroscope, its
In：The Wearable display device is connected with the control system, for by the X deflection angle of the Wearable display device
Information be sent to the control system；The horizontal rotating disc is connected to below the multi-DOF platform, and with the control
System connection processed；The control system is additionally operable to the information of the X deflection angle according to the Wearable display device and institute
The information for stating steering wheel output is controlled to the visual angle of the scene that the Wearable display device shows.
Alternatively, the horizontal rotating disc includes servomotor, worm screw and fluted disc, wherein：The servomotor with described
Control system connects, and is connected with the worm screw；The worm screw is engaged with the fluted disc；The fluted disc is flat with the multiple degrees of freedom
Platform connects.
Alternatively, it 2DOF, is roll and pitching respectively that the multi-DOF platform is.
Alternatively, the control system includes calculation processing apparatus and multiple analog/digital conversion devices；The plurality of analog
Conversion equipment is connected with the steering wheel, gas pedal and brake pedal respectively, and with the calculation processing apparatus even
Connect；The calculation processing apparatus are used for the signal according to the output of the plurality of analog/digital conversion device, to the execution system or water
Rotating disc sends control signal.
Alternatively, the execution system includes servomotor and the electric cylinders for interconnecting；The servomotor and the meter
Calculate processing meanss connection；The electric cylinders and the dynamic fortune platform connection of the multiple degrees of freedom.
Alternatively, the execution system includes servo electromagnetic valve and the hydraulic cylinder for interconnecting；The servo electromagnetic valve with
The calculation processing apparatus connection；The hydraulic cylinder and the dynamic fortune platform connection of the multiple degrees of freedom.
Alternatively, the execution system includes servomotor and the swing arm linkage for interconnecting, the swing arm connecting rod
Mechanism is used for for rotation input being converted to straight line output；The servomotor is connected with the calculation processing apparatus；The swing arm
Linkage and the dynamic fortune platform connection of the multiple degrees of freedom.
According to a further aspect in the invention, there is provided a kind of control method of the Mechatronic Systems for virtual driving.
The control method of the Mechatronic Systems for virtual driving of the present invention, the Mechatronic Systems is the electromechanics in the present invention
System, the control method includes：The control system receives the letter of the direct of travel deflection angle that the steering wheel is sent simultaneously
The information of the direction of visual lines deflection angle that breath and the Wearable display device are sent；The control system is by the direct of travel
Deflection angle is added after being multiplied by respective default weight respectively with the direction of visual lines deflection angle, obtains synthesizing angle；Institute
The visual angle for stating the scene that the control system control Wearable display device shows turns over the synthesis angle.
Alternatively, the default proportion range of the direct of travel deflection angle is [0,1]；The direction of visual lines deflection angle
Default proportion range be [0,1].
Alternatively, the direct of travel deflection angle vibration more than 5Hz that the steering wheel is produced is filtered, and is filtered described
The direction of visual lines deflection angle vibration more than 5Hz that Wearable display device is produced.
Technology according to the present invention scheme, it is achieved that carry out virtual driving during user's application Wearable display device, and
Do not lock when turning but the input of Wearable display device is continued to, so that driver is led in direction of operating disk
Cross rotation head the wider array of visual field is obtained, and more conform to actual driving condition.
According to the detailed description below in conjunction with accompanying drawing to the specific embodiment of the invention, those skilled in the art will be brighter
The above-mentioned and other purposes of the present invention, advantages and features.
Description of the drawings
Some specific embodiments of the present invention are described in detail hereinafter with reference to the accompanying drawings by way of example, and not by way of limitation.
In accompanying drawing, identical reference denotes same or similar part or part.It should be appreciated by those skilled in the art that these
Accompanying drawing is not necessarily drawn to scale.In accompanying drawing：
Fig. 1 be according to a kind of schematic diagram of the key component of virtual driving system of the prior art；
Fig. 2 is the signal of the element of the Mechatronic Systems for virtual driving according to embodiment of the present invention
Figure；
Fig. 3 is the schematic diagram of the execution system that is realized according to the employing swing arm linkage of embodiment of the present invention.
Specific embodiment
Fig. 2 is the signal of the element of the Mechatronic Systems for virtual driving according to embodiment of the present invention
Figure.As shown in Fig. 2 for virtual driving Mechatronic Systems 20 on the basis of the virtual driving system shown in Fig. 1, increased and wear
Wear formula display device 21 and horizontal rotating disc 22.
Horizontal rotating disc 22 is connected to the lower section of multi-DOF platform 12, and is connected with control system 16.Because its card with
Plane-parallel, rotating shaft during rotation and horizontal plane (when rotating, card is remained in horizontal plane), are therefore called water
Rotating disc.
The multi-DOF platform of present embodiment selects 2DOF, is roll and pitching respectively, is provided without more freedom
Degree, to reduce system complexity.Rotating shaft fore-and-aft direction during roll extends, and rotating shaft during pitching is then that left and right directions extends.This 2
Degree of freedom simulates various attitudes during virtual driving enough in conjunction with the rotation of horizontal rotating disc.
Wearable display device 21 can be the VR helmet or VR glasses, wirelessly the such as low coverage such as infrared, bluetooth
It is connected with control system 16 from communication mode, so as to the information of the X deflection angle of the Wearable display device 21 to be sent to
Control system 16.Produce during X deflection angle here, usually user head left-right rotation.The deflection angle can be
The angle of the direction of visual lines of user and the dead ahead of seat initial position.Here sight line be user two to face orientation just
The sight line in front.
Control system 16 after the information for receiving above-mentioned X deflection angle, according to the information and bonding position disk defeated
Go out, the visual field for controlling Wearable display device 21 to be presented.Concrete control mode will be described below.
In present embodiment, in order to safety and the reduces cost of rotating disk is improved, the structure of fluted disc-worm screw is employed.
Specifically, horizontal rotating disc includes servomotor, worm screw and fluted disc.Fluted disc horizontal direction arranges, its edge has tooth；Snail
Bar vertical direction is arranged, its helical tooth is matched with the tooth of fluted disc, makes worm screw band active toothed disk rotation when around its axle center rotation；Separately
There is servomotor coaxially connected with worm screw.This mode is connected to disk axes with motor by deceleration device, and this generally controls
The mode of rotating disk is compared, and the gear of the deceleration device of needs less or is not required to deceleration device, reduces cost；And in external force not
Fluted disc is reasonably applied to, it is intended to when rotating which, as fluted disc cannot drive worm screw, so as to form self-locking to avoid fluted disc
Rotate, improve the safety of rotating disk.
A kind of alternative construction of execution system is the servomotor and electric cylinders for interconnecting, and servomotor processes dress with calculating
Connection is put, according to control signal enlightenment or the stopping of calculation processing apparatus output.Execution system can also adopt servo electromagnetic valve
Constitute with elements such as hydraulic cylinders, control servo electromagnetic valve by calculation processing apparatus, so as to control the stroke of hydraulic cylinder.
Another kind of alternative construction of execution system be using swing arm linkage, as shown in figure 3, Fig. 3 is according to the present invention
The schematic diagram of the execution system that the employing swing arm linkage of embodiment is realized.
In actual driving, the rotation of steering wheel can change the visual field of driver；Driver head's left-right rotation can also change
Become its visual field.Therefore, when virtual driving is realized, need to consider the factor in the above two impact visual field.Embodiment party of the present invention
In formula, control system is while receive the information of direct of travel deflection angle that steering wheel sends and Wearable display device sends
The information of direction of visual lines deflection angle.Specifically still sampled by analog/digital conversion device and analog digital conversion.Here deflection angle
It is the angle between direct of travel or direction of visual lines and dead ahead, and positive and negative values is given, such as turns from dead ahead clockwise
The angle that crosses be on the occasion of, the angle for turning over counterclockwise be.Then control system calculates the weighting of above-mentioned two deflection angle
With, i.e., being calculated according to formula X=W1 × A+W2 × B, wherein X represents synthesis angle, and W1 represents the direct of travel deflection angle of setting
The weight of degree, W2 represents the weight of the direction of visual lines deflection angle of setting, and A and B represents the direct of travel that steering wheel is sent respectively
The direction of visual lines deflection angle that deflection angle and Wearable display device are sent.Finally control system controls Wearable to show and sets
The visual angle of the standby scene for showing turns over the synthesis angle.
According to above-mentioned control mode, do not lock when turning but the input of Wearable display device continued to,
Enabling driver the wider array of visual field be obtained in direction of operating disk by rotating head, and more conforms to actual driving shape
State.
Above-mentioned W1 and W2 sum should remain the scope of 1, W1 and can be taken as [0,1], and the scope of W2 can be taken as [0,1].For
Avoid the variation in the visual field of Wearable display device too fast, in embodiments of the present invention, can to steering wheel and Wearable
The dither of display device is filtered.For steering wheel, can be for the direct of travel deflection angle more than 5Hz
Vibration is not responded.For Wearable display device, can be for the vibration of the deflection angle of the direction of visual lines more than 5Hz
Do not respond.
So far, although those skilled in the art will appreciate that detailed herein illustrate and describe the multiple of the present invention and show
Example property embodiment, but, without departing from the spirit and scope of the present invention, still can be direct according to present disclosure
Determine or derive many other variations or modifications for meeting the principle of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers other variations or modifications all these.
Claims (10)
1. a kind of Mechatronic Systems for virtual driving, the Mechatronic Systems includes steering wheel, gas pedal, brake pedal, seat
Chair, multi-DOF platform, control system and execution system, wherein：
The seat is on the multi-DOF platform；
The steering wheel, gas pedal and brake pedal are connected with the control system；
The control system is connected with the execution system, for being sent out according to the steering wheel, gas pedal and brake pedal
The signal for coming is controlled to the execution system；
The execution system is connected with the multi-DOF platform, for change under the control of the control system described many from
Attitude by degree platform；
Characterized in that, the Mechatronic Systems also includes Wearable display device and the horizontal rotating disc with gyroscope, wherein：
The Wearable display device is connected with the control system, for by the X deflection angle of the Wearable display device
Information be sent to the control system；
The horizontal rotating disc is connected to below the multi-DOF platform, and is connected with the control system；
The control system is additionally operable to the information of the X deflection angle according to the Wearable display device and the direction
The information of disk output is controlled to the visual angle of the scene that the Wearable display device shows.
2. motion platform according to claim 1, it is characterised in that the horizontal rotating disc include servomotor, worm screw, with
And fluted disc, wherein：
The servomotor is connected with the control system, and is connected with the worm screw；
The worm screw is engaged with the fluted disc；
The fluted disc is connected with the multi-DOF platform.
3. motion platform according to claim 1 and 2, it is characterised in that the multi-DOF platform is 2DOF, point
It is not roll and pitching.
4. motion platform according to claim 1 and 2, it is characterised in that
The control system includes calculation processing apparatus and multiple analog/digital conversion devices；
The plurality of analog/digital conversion device is connected with the steering wheel, gas pedal and brake pedal respectively, and with institute
State calculation processing apparatus connection；
The calculation processing apparatus are used for the signal according to the output of the plurality of analog/digital conversion device, to the execution system or
Horizontal rotating disc sends control signal.
5. motion platform according to claim 4, it is characterised in that
The execution system includes servomotor and the electric cylinders for interconnecting；
The servomotor is connected with the calculation processing apparatus；
The electric cylinders and the dynamic fortune platform connection of the multiple degrees of freedom.
6. motion platform according to claim 4, it is characterised in that
The execution system includes servo electromagnetic valve and the hydraulic cylinder for interconnecting；
The servo electromagnetic valve is connected with the calculation processing apparatus；
The hydraulic cylinder and the dynamic fortune platform connection of the multiple degrees of freedom.
7. motion platform according to claim 4, it is characterised in that
The execution system includes servomotor and the swing arm linkage for interconnecting, and the swing arm linkage is used for will rotation
Transfer into be converted to straight line output；
The servomotor is connected with the calculation processing apparatus；
The swing arm linkage and the dynamic fortune platform connection of the multiple degrees of freedom.
8. a kind of control method of the Mechatronic Systems for virtual driving, the Mechatronic Systems is the electromechanical system in claim 1
System, it is characterised in that the control method includes：
The control system receives the information of the direct of travel deflection angle that the steering wheel is sent simultaneously and the Wearable is aobvious
Show the information of the direction of visual lines deflection angle that equipment is sent；
The direct of travel deflection angle and the direction of visual lines deflection angle are multiplied by respective pre- by the control system respectively
If being added after weight, obtain synthesizing angle；
The control system controls the visual angle of the scene that the Wearable display device shows to turn over the synthesis angle.
9. control method according to claim 8, it is characterised in that
The default proportion range of the direct of travel deflection angle is [0,1]；
The default proportion range of the direction of visual lines deflection angle is [0,1].
10. control method according to claim 8 or claim 9, it is characterised in that filter that the steering wheel produces more than 5Hz
The vibration of direct of travel deflection angle, and filter the direction of visual lines deflection more than 5Hz that the Wearable display device is produced
Angular vibration.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611041389.XA CN106448330A (en) | 2016-11-10 | 2016-11-10 | Electromechanical system for virtual driving, and control method of the same |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611041389.XA CN106448330A (en) | 2016-11-10 | 2016-11-10 | Electromechanical system for virtual driving, and control method of the same |
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| CN106448330A true CN106448330A (en) | 2017-02-22 |
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| CN201611041389.XA Withdrawn CN106448330A (en) | 2016-11-10 | 2016-11-10 | Electromechanical system for virtual driving, and control method of the same |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107767728A (en) * | 2017-12-05 | 2018-03-06 | 李竣琪 | A kind of mountain region four-wheel offroad vehicle virtual driving system of magnetic induction Untouched control |
| CN110316077A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Emergency work condition prompt system and vehicle based on vehicle-mounted display terminal |
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| DE29512759U1 (en) * | 1995-08-08 | 1996-09-19 | FUNEX AG, Wollerau | Seating arrangement of amusement devices |
| TW450151U (en) * | 1999-12-07 | 2001-08-11 | Nat Science Council | Roller-typed cam divider capable of rotating and shifting two degrees of freedom |
| CN102490025A (en) * | 2011-12-26 | 2012-06-13 | 黄山皖南机床有限公司 | Workbench for horizontal machining center |
| CN203165265U (en) * | 2013-03-28 | 2013-08-28 | 周校平 | Universal type logistics equipment simulation training device |
| CN105344101A (en) * | 2015-11-19 | 2016-02-24 | 广州玖的数码科技有限公司 | Frame and mechanical motion synchronization simulation racing car equipment and simulation method |
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2016
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29512759U1 (en) * | 1995-08-08 | 1996-09-19 | FUNEX AG, Wollerau | Seating arrangement of amusement devices |
| TW450151U (en) * | 1999-12-07 | 2001-08-11 | Nat Science Council | Roller-typed cam divider capable of rotating and shifting two degrees of freedom |
| CN102490025A (en) * | 2011-12-26 | 2012-06-13 | 黄山皖南机床有限公司 | Workbench for horizontal machining center |
| CN203165265U (en) * | 2013-03-28 | 2013-08-28 | 周校平 | Universal type logistics equipment simulation training device |
| CN105344101A (en) * | 2015-11-19 | 2016-02-24 | 广州玖的数码科技有限公司 | Frame and mechanical motion synchronization simulation racing car equipment and simulation method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107767728A (en) * | 2017-12-05 | 2018-03-06 | 李竣琪 | A kind of mountain region four-wheel offroad vehicle virtual driving system of magnetic induction Untouched control |
| WO2019109394A1 (en) * | 2017-12-05 | 2019-06-13 | 李竣琪 | Mountain four-wheeled all-terrain vehicle virtual driving system with magnetic induction non-contact control |
| CN110316077A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Emergency work condition prompt system and vehicle based on vehicle-mounted display terminal |
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Effective date of registration: 20171220 Address after: 100192 room ten, room C, block C, block B-6, Zhongguancun Dongsheng Science Park, No. 66, West small mouth road, Beijing Applicant after: Beijing Polytron Technologies Inc will sail. Address before: 100192 Beijing city Haidian District West small road No. 66 Dongsheng Technology Park B-6 building C block 10 layer Applicant before: Zhao Bing |
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