CN108786122A - Dark rides Vehicular system - Google Patents
Dark rides Vehicular system Download PDFInfo
- Publication number
- CN108786122A CN108786122A CN201710300133.4A CN201710300133A CN108786122A CN 108786122 A CN108786122 A CN 108786122A CN 201710300133 A CN201710300133 A CN 201710300133A CN 108786122 A CN108786122 A CN 108786122A
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- Prior art keywords
- vehicle
- dark
- rider
- road
- control
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G23/00—Rotating or rocking pots, e.g. by moving the whole body
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G25/00—Autocar-like self-drivers; Runways therefor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J25/00—Equipment specially adapted for cinemas
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- Vehicle Body Suspensions (AREA)
Abstract
A kind of dark rider Vehicular system；The present invention has unique dark rider road curvature detection system, there is the dark electronic map control mode for riding Vehicular system of original creation, have and washout filter algorithm is introduced into the dark six degree of freedom rider vehicle movement platform for riding Vehicular system for the first time, there is the differential joint for riding drive mechanism for vehicle+wheel gas-liquid suspension of road curvature detection agency+servo motor to ride vehicle to run system, there is the control strategy of brief and practical；The present invention is that extraordinary institute's movie theatre, live entertainment are ridden the core equipment in travelling the synthesis item of recreation that these three large-scale interactive items of recreation merge；The present invention includes：Vehicle 01 is ridden, fin 02, screen 03, dynamic machine mould 04, audio and video equipment 05, car-mounted computer 06 are oriented to.
Description
Technical field
The present invention relates to riding class to interact field of travelling, more particularly to a kind of dark rider Vehicular system
Background technology
Current dark Vehicular system of riding is more dull, there are no being formed extraordinary institute's movie theatre, live entertainment, rides trip
These three happy large-scale interactive items of recreation are integrated into a major class by new science new science and technology, are clearly divided into a big product
Kind, it is deep to be liked by the people, it can be prevalent in the item of recreation of each recreation ground whithin a period of time.
The dark Vehicular occupant dynamic body-sensing of riding runed in the market of travelling at present stimulates deficiency, since dark rides vehicle
Height is general to be required to reduce, and the variation length that six degree of freedom length changes device is shorter, causes the cabin acceleration duration
It is very short, video display cannot be coordinated to require substantially.Current means to save the situation is to rely on human body weight caused by the inclination of cabin or seat
Heart offset allows people to generate illusion, and approximate acceleration is felt, but actual effect is limited.
A current dark part of riding is double track traveling, and this guided mode outer rail in corner needs will have height
Difference, it is also necessary to which wheel outward flange is axial and track will laterally have gap, adds Vehicle Speed, above-mentioned three are that track is curved
The function of road least radius.This double track vehicle has following problem for dark rider：1. minimum negotiable radius is bigger, especially
It is when speed is larger, turning radius is with regard to bigger.For the stimulation travelled, in general performs drama and require bend speed fast
Some, it is better that passenger feels centrifugal acceleration.But larger turning radius needs to occupy larger place, to building and expropriation of land
And cost brings pressure, this is that operator is reluctant to see.2. in corner, the vehicle the fast more needs wheel outward flange axial
Gap between track is bigger.In actual motion, this gap can cause operation vehicle lateral displacement and vibrations, more seriously
When, this lateral vibrations can also cause the wheel moment on the outside of the bend center of circle to takeoff by a small margin from track, and vehicle is caused to jolt.This
A little displacements, low-quality item of recreation can be restrained oneself by shaking and jolting, and the item of recreation of high-quality is then had to keep away
Exempt from.Especially interactive dark rider, the aiming of occupant can be interfered.
A current dark part of riding is to be oriented to fin pattern, i.e., so-called single track mode.Current this pattern be divided into for
Tri- kinds of modes of ABC.A. left and right sidesing driving wheel operates synchronously, by guiding fin to the stiff guiding of the constraint of directive wheel.B. left and right driving
It takes turns servo motor and changes respective rotating speed realization differential turning by perception moment variations.C. mechanical linkage is relied on so that
Wheel is by guiding fin curvature beat to guide turn inside diameter.These three dark of actual motion are ridden Vehicular system and are all deposited at present
In larger problem.Mode A is when turning radius is smaller, since rotating speed needed for the wheel away from center of circle inner side and outer side is different, two-wheeled
Rotating speed unanimously makes wheel rim very big friction occur with ground, and this kind of dark rider project people can be appreciated that two black traces on road
Mark, here it is the evidences of wheel and ground friction.This friction is other than reducing tyre life, it is often more important that increases vehicle
Road horsepower, when turning, the wheel on the inside of the center of circle really plays the role of hindering vehicle operation.So riding vehicle
Design when will by this excess power lose take into account, increase driving power.Mode B considers rider Vehicular system
The differential ratio that adjust automatically two drives, but also have deficiency.Because only that occurring just having after drive wheel rims and ground friction
Additional torque occurs, and in practice, this kind of rider vehicle is unstable in corner speed, and passenger feels to obtain.In addition, though riding vehicle
Driving power is less than the two consistent type of drive of driving wheel speeds when design, but is still more than ideal power, floor degree
More bad, power just goes out greatly more.It is influenced by capital expenditure due to riding road, generally will not be very smooth, also it is exactly road
There is dust or Litter in face, can all cause rider vehicle operation unstable.The link mechanism of mode C will be accomplished to ride vehicle standard
It really just needs to visit the half length of link mechanism in front of front vehicle wheel according to guiding fin curvature operation, undoubtedly to increase multiply in this way
The length of cycling causes difficulty to vehicle moulding is ridden.Therefore before and after the rider vehicle link mechanism of mode C backs at present
Between two axis, Nose Wheel Steering action is resulted in this way and lags behind guiding fin actual curvature.For the smaller road of turning radius, wheel
The friction on edge and ground is still bigger, and additional frictional resistance is not cut down substantially.And this set connecting rod mechanism movement
Part is more, increases the workload and expense of maintenance.
Multisensor was arranged along road in current dark Vehicular system of riding, and the higher project of quality is also provided with item
Shape code, it is other also to do image.These all cause cost to rise, and field wiring is complicated, and electromagnetic environment is dirty, and failure is easily sent out
Raw, the project later stage occupies professional technician's working hour etc..
The dark control strategy for riding Vehicular system and communication packet mostly use the reason of general industry control (industry control) at present
It reads.Due to dark ride Vehicular system be carried out around each sense organ of human body it is movable, it is different from electromechanical essence, therefore dark rider
Vehicular system needs a kind of control strategy and message protocol of suitable project oneself.
Invention content
The present invention is that extraordinary institute's movie theatre, live entertainment are ridden these three large-scale interactive items of recreation merging of travelling and existed
Synthesis item of recreation together, it is gathered around, and there are one road networks to be used for travelling rider vehicle, and the medium line of road has guiding fin, road
Wholly or largely there is covering to be used for shielding natural light, several rider vehicles for being loaded with passenger travel on road.It is oriented to fin
Shape of moving towards the critical data for becoming entire performance control system in a computer is remembered in a manner of electronic map.For
Reduce and add up journey error caused by wheel rim and ground relative motion, is oriented to fin and does not use very long straightway as possible.
The packaging and decoration of both sides of the road and top there are many video screen, dynamic model, special effect device and according to drama requirement.It rides
Vehicle has cockpit, there is seat and safety Crowbar Pressing in cockpit, there is upper open type hatch door on bulkhead.It is six degree of freedom platform below cockpit,
It can complete to lift, traversing, vertical shift, three linear motions and yaw, pitching, three rotary motions of rolling.Six degree of freedom platform
Critical piece be six servo electric jars, according to optimal washout filter algorithm establishment motion control software control cockpit sky
Between posture.It is rotating platform below six degree of freedom platform, rotating platform uses band bearing bull gear structure, to reduce rider vehicle
Height.Rotating platform is that six degree of freedom yaw maneuver increases a redundant degree of freedom.Rotating platform slewing area is ± 360 °,
Can also be more than 360 ° of rotations after being mounted with circuit center steering contact device in special requirement.Rotating platform uses servo
Motor drives, you can with dynamic with larger angular acceleration stimulation human body, can also slope accelerate and slope is slowed down so that occupant exists
It is comfortable in rotation.It is vehicle chassis below rotating platform.Vehicle chassis front two-wheeled is driving wheel, is driven by servo motor
It is dynamic, behind two-wheeled be driven wheel.Two servo motors can allow vehicle chassis straight line moving or differential to be turned.Before vehicle chassis
End is equipped with road curvature detection device, and detection vehicle operation front is oriented to the curvature of fin, and instruction two wheels driving servo motor is repaiied
Principal-employment speed ratio.Vehicle chassis has wheel gas-liquid to hang adjust automatically wheel ground pressure, with keeping four wheel loads balanced, both keeps multiplying
Member is comfortable again so that two driving wheels do not generate differential ratio error because skidding.Pacify according to dark rider scale and performance on driving route
Row has more rider vehicle travelings.It is oriented to the prefabricated vehicle line for riding vehicle of fin, each is ridden when being assigned when vehicle sets out
Between parameter, time dimension generates electronic map together with the geometric space dimension of vehicle line.One is often driven to when riding vehicle
Near block screen, electronic map marker triggers audio-visual devices and plays audiovisual materials.Control computer is integrally performed in item of recreation
Under system control, it is interactive with video display plot to ride vehicle.Ride the six-freedom motion that vehicle has, chassis rotation, online row
Sailing mechanism action, these act the interaction both participated in video display.Interaction has accurately position control, speed control and acceleration control
System., sometimes can also be above in the left and right and front for riding vehicle heading, there are many people ghost beasts to blame mechanical cartoon of deformation etc.
Dynamic model.It is often driven near each dynamic machine mould when riding vehicle, the action of electronic map location data-triggered dynamic machine mould.
Under integrally performance control computer system control, vehicle and dynamic machine mould sound, light, form, position, humidity, flow, water are ridden
The interactions such as mist, cold-hot wind, smell.Specific vehicle traveling manipulates and body movement manipulation is pre-stored by car-mounted computer
Policy control is completed.Every staged position, electronic map instruction are ridden vehicle and are stopped, and rotate vehicle face or side to performance
Scene, wheel gas-liquid suspension hydraulic valve are closed, and wheel distance away the ground is fixed, and keep chassis not in vehicle performance action appearance
Lower vibration elastic, then according to the six degree of freedom platform of drama vehicle with video display or machine mould or special efficacy or interactive equipment action.This
After the completion of the performance of a position, vehicle drives towards next staged position.In vehicle traveling, compartment changes according to scenery acousto-optic on the way
Rotation and six-freedom motion can be still carried out according to performance layout.The scan data of road curvature detection device and vehicle-mounted meter
Electronic map generates a local zone time more afterwards on calculation machine, and message is written in this time, by communication link report to
Item of recreation central computer, central computer just know vehicle location at this time by this so-called local zone time.
Dark, which is ridden, is oriented to fin after installation is complete on the road of Vehicular system, be equipped with the rider of road curvature detection system
Vehicle is on the way run one time, and computer just remembers the shape of entire road.It can also be by the guiding fin center of design drawing
Line moves towards data and writes direct computer, obtains trend of road space geometry part.It can be 2 dimensions to be oriented to fin center line trend
, can also be 3 dimensions, this to see dark rider project road whether only in one plane.Vehicle is ridden actually to drill
Go out when driving, road curvature detection to real road curvature value constantly by computer compared with electronic map, just
It can constantly obtain the instantaneous in-orbit position for riding vehicle.There are the instantaneous in-orbit position for riding vehicle, the control of item of recreation center
Computer can issue instruction, triggering and coordination performance step in the form of synchronization time.In general, in-orbit rider vehicle has
Many, the electronic map of each car is the same in static geometric understanding, but in fact, due to each rider vehicle
Instantaneously in line position difference, 2 dimensions of each car or the geometric map of 3 dimensions be additionally added be pertaining only to each car it is respective and that
This different time dimension.If regarding the Z axis of 2 dimension geometry maps as Z=0, above-mentioned discussed map should just be named
It does dark Vehicular system 4 of riding and ties up electronic map.After in-orbit rider vehicle has from the departure time of starting point and first has, each other forever
There is interval, therefore each 4 dimension electronic map for riding vehicle is all different.Apart from the above, 4 electronic maps are tieed up easily
It is applied to acceleration and deceleration strategy to ride vehicle entrance and is driven out to staged position.4 dimension electronic maps effectively keep spacing, prevent each
Class failure caused by spacing.4 dimension electronic maps accurately keep the sequential and rhythm of performance.Dark rides 4 dimension electricity of vehicle
Each online present position for riding vehicle can be reported directly to project center control computer by sub- map, it is not necessary to be arranged again
In addition in-orbit rider vehicle location detection system.4 dimension electronic maps make dark rider vehicle whole service system, project whole
A performance control, can be smoothed out synchronous control.
Washout filter algorithm is introduced the dark six degree of freedom rider vehicle movement for riding Vehicular system for the first time and put down by the present invention
Platform.It is six degree of freedom platform between the rider vehicle cabin and turntable of the present invention, can completes to lift, traversing, vertical shift, three straight
Line moves and yaw, pitching, three rotary motions of rolling.The critical piece of six degree of freedom platform is six servo electric jars, according to
The spatial attitude of cockpit is controlled according to the motion control software of optimal washout filter algorithm establishment.The rider vehicle occupant's of the present invention
Long acceleration body-sensing is that " returning steathily " is realized under the acceleration rate threshold less than human perception by the overhang of servo electric jar
's.Practical calculate is to be calculated according to the head vestibular position of Men's average height, and consider human body to all around adding
The factors such as speed perception threshold value difference are calculated.The present invention is the same industry for the first time by this cybernetics of optimal washout filter algorithm
Mathematical method, which introduces, rides vehicle six degree of freedom platform courses software algorithm.
Road curvature detection agency and the differential association system for riding drive mechanism for vehicle of servo motor.The rider of the present invention
Vehicle vehicle chassis front two-wheeled be driving wheel, driven by servo motor, behind two-wheeled be driven wheel.Two servo motors can be with
Vehicle chassis straight line moving and differential is allowed to turn.Vehicle chassis front end is equipped with road curvature detection device, corrects vehicle immediately and drives
The differential ratio of driving wheel.It rides and high-precision angle sensor is installed on the chassis front end center line of vehicle.Angular transducer turns
One detection bar is housed on axis.Detection bar continues to protract.The front end for detecting bar is equipped with a pair of of idler wheel, and two idler wheels clamp guiding
Fin.If vehicle travels on straight line, detection bar center line is 0 with vehicle chassis centerlines, angular transducer sense at this time
Know 0 angle and notify computer, computer show that road ahead is the result of calculation of straight line, and instruction vehicle chassis or so two is watched
Take motor synchronous operation.If bend occurs in front, detection bar center line is β with vehicle chassis centerlines, at this time angle
Sensor perception β angles simultaneously notify computer, computer obtain road ahead be bend and according to β value calculate turning radius this
Sample as a result, the speed ratio of two servo motors of vehicle chassis or so can be calculated by turning radius computer, according to instant
Speed can calculate n seconds rear vehicle driving wheels and reach detecting location.After n seconds, two servo motors of vehicle chassis or so according to
The speed ratio speed change that calculated in advance goes out achievees the purpose that differential is turned.Above-mentioned discussion is a number on vehicle operation curve
Learn point, actual computer under computing capability constantly sampling calculate, form intensive mathematics point, be used in combination mathematical difference method it is round and smooth this
It is a little, form mathematic curve.Actually the operation of guidance driving servo motor differential is to be computed the just round and smooth mathematics song of machine maintenance
Line.In order to make two driving wheels, not on the uncleanly road surface of out-of-flatness, moment disengaging road surface is dallied, and then influences driving
Wheel is servo-actuated to road curvature, and association system is that two driving wheels and two passive have attached gas-liquid suspension arrangement.Gas-liquid is hung
Device is passive delivery.Gas-liquid suspension arrangement ensures four wheels under bad road conditions still with roughly equal face pressure over the ground
Power supports car body jointly.
The dark control strategy for riding Vehicular system of the present invention.Dark rides Vehicular system and does not have to that many positions are arranged on the way
Set sensor, so that it may to know vehicle specific location.Vehicle only receives beginning and end position signal, clock, and comes from performance
The interrupt signal of control centre's computer.Communication is succinct, and speed is fast.Vehicle present position indicates to return in performance control with clock
The numerical value that heart computer curvature detection the arrives not still foundation of traffic route, moreover, the changing rule road curvature according to data
Electronic map generates a local zone time more afterwards in the scan data and car-mounted computer of detection device, and this time is write
Enter message, reported by communication link and give item of recreation central computer, central computer by this so-called local zone time just
Know vehicle location at this time.Ride vehicle each performance scene in drama plot movement (including vehicle chassis rotate
Being moved with six degree of freedom platform) instruction software is all previously downloaded in car-mounted computer.The broadcasting frame of movie and video programs contains having time
Code (timestamp), the instruction of the action command of machine mould, the timing instructions of special efficacy, Control Console, sound equipment etc. all contain time code.
Ride vehicle curvature detection device scanning be oriented to fin, angle signal handled by car-mounted computer after with the electronics in car-mounted computer
Map compares.The electronic map of each car also adds one-dimensional time variable in addition to the numerical value containing space geometry point in each point.
The time value write-in message of which point instantaneous on electronic map need to be only uploaded to project center control and calculated by car-mounted computer
Machine, central computer are just aware of the instantaneous position of this trolley.Central computer downward message also only issues time code, multiplies
It rides Vehicular system and each time is just corresponded to the action command execution to prestore.Central computer constantly issues time code, rides
Vehicle just has continuous action, then forms vehicle and imitates the continuous servo-actuated of sound equipment with video machine model.In the writing of time code
In agreement, some times are not present in electronic map, they represent other instruction, such as all kinds of interruptions.Host computer
The clock of machine publication is unified the same, but each vehicle is different to the explanation of clock.
The present invention is the rider Vehicular system of particularly suitable item of recreation most species set at present, and the action of car body is not only
The response of audio-video video display also imitates machine model and responds, there are many interest in game play hot spot of attractive booking.Distinctive curvature detection control
It makes differential turning rider vehicle and is particularly suitable for small curvature turning, added the excellent of game.The abundant dynamic emulation effect of vehicle
It is especially prominent, there is especially strong expressive force to drama plot.Car-mounted computer for the first time will be optimal in industry of travelling
Washout filter algorithm introduces the programming of six degree of freedom bobbin movement control software so that occupant can obtain continuous acceleration body-sensing.
The gas-hydraulic suspension system of chassis wheel so that it is most steady comfortable to ride vehicle and operate in the same industry.So operator individual
Admission fee is high.
Due to the special performance of the road curvature detection and servo Differential Driving system of the present invention, rides vehicle and be particularly suitable for
The place of small curvature turning radius, same area can arrange longer performance circuit, longer performance circuit that can pacify more
Row rides vehicle, that is, single play can receive more occupants.So operator box office is high.
The continually changing differential controlled with accurate front curvature detection when the present invention rides the bend of vehicle is than realizing
, so the abrasion very little of wheel, not by cross force, parts are hardly damaged vehicle chassis.Therefore failure rate is low, maintenance
Expense is low.
The continually changing differential controlled with accurate front curvature detection when the present invention rides the bend of vehicle is than realizing
, the relatively more simple hard turning synchronized by two driving wheels for being oriented to fin and two servo-drives by torque variation control rotating speed
Differential turning is taken turns, is had and is substantially reduced driving motor power and then reduces cost and save the effect of electric energy.
Because the present invention is that extraordinary institute's movie theatre, live entertainment are ridden these three large-scale interactive items of recreation of travelling and merged
Synthesis item of recreation together is again the dark rider Vehicular system that performing effect is best under same cost, is one section in the future
Time dark rides the Main Patterns of Vehicular system.
The differential dark vehicle of riding of single track of the same trade is higher to the planarity requirements on ground, and the present invention rides wheel of vehicle
Hydraulic suspension is relatively low to the planarity requirements on ground, and this reduces ground capital construction costs.
The of the invention dark position control for riding Vehicular system, position sensing, position response along road independent of being arranged
The device of quantity sensor or image recognition etc greatly.Dark Vehicular system of riding of the invention has electronic map, all responses are all
It is associated with electronic map.Thus eliminate a large amount of electronic devices.In addition to investing saving for the first time, later maintenance expense also drops therewith
It is low.
Since the dark main evaluation work of vehicle of riding of the invention is completed in car-mounted computer, so vehicle and item of recreation
Communication between central control system becomes very simple.Communication only needs switching clock and interruption.Clock message format is simple, institute
It is extremely low with the software overhead of dark rider Vehicular system of the invention on a wireless network.
The of the invention dark 4 dimension electronic maps for riding vehicle easily by acceleration and deceleration strategy be applied to ride vehicle enter and
It is driven out to staged position.Electronic map effectively keeps spacing, prevents all kinds of failures caused by spacing.4 dimension electronic maps are accurate
Ground keeps the sequential and rhythm of performance.It brings great convenience to the field management of operator.Avoid confusion and reduce Site Service
Personnel have potential economic benefit.
The dark 4 dimension electronic maps for riding vehicle of the invention can directly report each online present position for riding vehicle
It accuses and gives project center control computer, it is not necessary to arrange other detection system again.
After project puts into effect, change because drama changes the video display caused, action changes, scene change, and special efficacy changes etc.
It is required that control software has corresponding change, dark Vehicular system control strategy of riding of the invention is most succinct in current homogeneous system
's.Its logic is most readily understood, because being very easy to this change.This reduces project later stage expense and operation costs.
Description of the drawings
Below in conjunction with attached drawing the present invention will be described in detail implementation detail feature and advantage；
Fig. 1 is to ride road vehicle curvature detection and camber line measuring system vertical view according to an embodiment of the invention；
Fig. 2 is to ride vehicle chassis differential driving schematic diagram according to an embodiment of the invention：
Fig. 3 is that dark rides Vehicular system axonometric drawing according to an embodiment of the invention：
Fig. 4 is to ride vehicle chassis axonometric drawing according to an embodiment of the invention；
Fig. 5 is to ride vehicle turntable+six degree of freedom platform axonometric drawing according to an embodiment of the invention；
Fig. 6 is that dark rides vehicle axonometric drawing according to an embodiment of the invention；
Specific implementation mode
Fig. 1 is to ride road vehicle curvature detection and camber line measuring system vertical view according to an embodiment of the invention.It is dark
It rides and high-precision angle sensor 13 is installed on 19 center line of Vehicular system rider vehicle chassis, 29 front end.Angular transducer 13
Shaft on be equipped with a detection bar 08.Detect bar extension.The front end for detecting bar 08 is equipped with a pair of of idler wheel 07, and two idler wheels are clamped
It is oriented to fin 02.The geodesic line that two idler wheel axle center are wired to angular transducer swing rod axle center is L.If vehicle travels on straight line,
It is 0 ° that bar center line, which is detected, with vehicle chassis centerlines B, and angular transducer perceives 0 ° of angle and notifies computer at this time, calculates
Machine show that road ahead is the result of calculation of straight line, two servo motor synchronous operations of instruction vehicle chassis or so.If front
There is bend, detection bar center line is θ ° with vehicle chassis centerlines B, and angular transducer perceives θ ° of angle and notifies to count at this time
Calculation machine, computer show that road ahead is bend and calculates radius of curvature of going off the curve according to θ ° of value, and calculation formula is：
The real-time bend radius of curvature data that road curvature detection system detects give car-mounted computer, become control system
Significant data.Two wheels 15 are driving wheel in front of car body, are driven by servo motor 14.Servo motor 14 is equipped with encoder, coding
Device can record the length of curve for being oriented to that driving wheel is passed by inside and outside fin 06 respectively.There are 4 prefabricated dimension electronics in car-mounted computer
Map.Vehicle undergoes one section of linear road or standard circular arc, and only length of curve changes, and changes without road curvature.Work as rider
When data variation occurs again in the road curvature of vehicle, car-mounted computer compares this data and 4 dimension electronic maps, if road
Road curvature and the corresponding due data of the length of curve crossed are not inconsistent, and road curvature high priority data repaiies length of curve
Just it is being 4 dimension electronic map pre-stored datas, is avoiding the cumulative errors of length of curve in this way.Two groups of road curvature and length of curve
Data can depict the driving trace for riding vehicle, in addition time dimension, is exactly 4 dimension electronic maps.Fig. 1 is in X.Y.Z.3
It is drawn when dimension geometric space setting Z=0, i.e. surface road, only there are one angle variables for it.In this way primarily to figure is simple
Clean to be illustrated, calculation formula is very clear.In actual darkness rider project, road needs dipping and heaving or multilayer sometimes
Road.Like that it have 2 orthogonal angle variables, one on X/Y plane, one in YZ XZ planes.
Fig. 2 is to ride vehicle chassis differential driving schematic diagram according to an embodiment of the invention.Ride vehicle chassis front two
Wheel 15 is driving wheel, is driven by servo motor 14.Two driving wheels are without coaxially connected, and vehicle is in straight line moving section two servos electricity
Machine rotates synchronously, this synchronous rotation is theoretic synchronization.In Practical Project, by two drive shaft of curvature detection system detectio
Whether heart line is vertical with fin is oriented to, and deviation occurs and restores vertical by adjusting two motor speed differences after car-mounted computer operation immediately
Posture.It is dynamic equilibrium that so-called two drivings servo motor, which operates synchronously, and speed discrepancy is always servo-actuated with road curvature detection system.
Corner, two driving servo motors realize turning by speed discrepancy.Calculation formula is：
In formula, the differential ratios of i-；R- road curvature radiuses；H-1/2 wheelspans
Fig. 3 is that dark rides Vehicular system axonometric drawing according to an embodiment of the invention.
Dark, which is ridden, the having many bends or curves road network for perhaps going back dipping and heaving, and guiding fin is equipped with along trend of road road axis
02.The trend for being oriented to fin defines the path for riding vehicle 01.There are more vehicles online simultaneously on road, there is interval each other.It rides
Vehicle to run is driven by two servo motors, can control acceleration, speed, rotational speed difference turning.Riding vehicle has turntable, turns
The gear-wheel gear-ring engaged transmission that disk is driven by servo motor, can control angular acceleration, angular speed is not equipped with center steering circuit
Contact can do ± 360 ° of rotations.Equipment center steering circuit contacts can do ± ∞ ° rotation.Riding vehicle has six freedom
Motion platform is spent, pitching, yaw, rolling, lifting, traversing, vertical shift action can be completed.Riding vehicle has car-mounted computer 06,
Car-mounted computer 06 has data communication with entire item of recreation control centre 00.Dark rides road vehicle-mounted in vehicle travel process
The encoder of road curvature detection system and vehicle traction servo motor can report road condition data to car-mounted computer, vehicle computing
Machine compares stored in road condition data and car-mounted computer 4 dimension electronic maps, obtains the 4 of the present position of an expression vehicle
Dimension space point.The time dimension of 4 dimension spaces is this vehicle relative time of oneself.Car-mounted computer is by the relative time report of oneself
It accuses and gives item of recreation control centre.Item of recreation control centre obtain vehicle relative time be equal to be aware of this vehicle
The speed of rail position and it.When the vehicle relative time that item of recreation control centre obtains is some setting value, center calculation
Machine will be to video display 03, and sound equipment 05, light 05, machine mould 04, special, 04 assigns instruction.Item of recreation control centre is to all online
Vehicle issues unified time code, the absolute clock as all vehicles.Car-mounted computer receives absolute clock and just knows
Present position is advanced or lag to Dao Benche this moment.Car-mounted computer ties up electronic map, the sensor of this vehicle according to the 4 of this vehicle
It with the absolute time regulation speed of control centre, turns, rotation, six-freedom motion and occupant's interaction class are equipped.Absolute time
Clock is that item of recreation control centre computer is worked out according to the real-time status of performance drama and entire project, for example, when control
Center thinks should to allow performance to suspend, it will continuously send out a same time code, the action of vehicle repeatedly with this
Absolute time correspondence is equal to stop on some operating position.Ride the walking of vehicle, turntable rotation and six degree of freedom fortune
It is dynamic to be carried out at the same time.
Fig. 4 is to ride vehicle chassis axonometric drawing according to an embodiment of the invention.It is vehicle bridge frame 19 to ride vehicle chassis main body.
Vehicle bridge frame is hardware.There are a pair of of driving wheel 15, configuration to there is a pair to be configured in vehicle by motor car wheel 12 in vehicle bridge frame front end
Crane span structure rear end.Driving wheel is driven by the servo motor 14 with speed reducer.Driving wheel servo motor band encoder.Two driving wheels
Servo motor independently controls, and can operate synchronously or differential operates.Driving wheel servo motor band brake.It is waiting
Brake driving wheel when vehicle and staged position need parking and when anomalous event is required.Drive wheel and by motor car wheel with
Vehicle bridge frame has gas-liquid suspension arrangement.Gas-liquid suspension arrangement is made of crank throw 16 and airdraulic actuator 10.To prevent vehicle chassis lateral
It is mobile, a pair of anti-transverse shifting wheel 20 is respectively mounted with before and after chassis.Vehicle bridge frame front end is equipped with angular transducer 13, angle sensor
Detection bar 08 is installed on device central shaft.It detects bar front end and a pair of of idler wheel 07 is housed, two idler wheels, which are clamped, is oriented to fin 02.Vehicle bridge frame
Front end be bumper.There is bull gear 11 at vehicle bridge frame center.Bull gear is gear ring bearing integrated structure, and gear ring can be done and vehicle
The relative rotation of crane span structure.The turntable driving servo motor 18 of speed reducer and encoder, speed reducer output are provided on vehicle bridge frame
Axis band pinion gear 17, pinion gear engage driving bull gear rotation with bull gear.Car-mounted computer 06 is also equipped on vehicle bridge frame.Vehicle
On there is the releasing magnet that 10 servo motors and other solenoid valve also have safety Crowbar Pressing, their control device to be incorporated into
On vehicle bridge frame.Dark ride highway layout at the beginning of and building course, be oriented to fin trend be full curve, do not allow curvature to have jump
Become.
Fig. 5 is to ride vehicle turntable head plate 24 according to an embodiment of the invention to connect.
Fig. 6 is that dark rides vehicle axonometric drawing according to an embodiment of the invention.Ride vehicle cabin and six degree of freedom platform
Top plate fix.Cockpit is made of cockpit main body, safety Crowbar Pressing 26, seat 27, upper open type car door 28.
Example the above is only the implementation of the present invention is illustrative, is not intended to limit the scope of the invention.It is all
It is to be applied directly or indirectly in it using equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content
His relevant technical field, is included within the scope of the present invention.The deformation of embodiments disclosed herein
Possible when with change, the replacement of embodiment and equivalent various parts are well known for those of ordinary skill.It is above-mentioned
The embodiment of the present invention is intended only to be exemplary.Those skilled in the art, which should be understood that, is not departing from the present invention
Spirit or essential characteristics in the case of, the present invention can in other forms, structure, arrangement, ratio, material, and parts are realized.
Modification in various details is made to these embodiments, all modifications are within the scope of the present invention.
Claims (6)
1. a kind of dark rider Vehicular system：It gather around there are one road network be used for travel rider vehicle, the medium line of road is led
To fin, road wholly or largely has covering to be used for shielding natural light, and several rider vehicles for being loaded with passenger are in road uplink
It sails；The shape of moving towards for being oriented to fin is remembered respectively in a manner of electronic map in car-mounted computer and project center control computer
In, become the critical data of entire performance control system；There are many video screen, dynamic model, special efficacys for both sides of the road and top
Equipment and according to drama require packaging and decoration；Riding vehicle has cockpit, has seat and safety Crowbar Pressing in cockpit, has on bulkhead
Upper open type hatch door；It is six degree of freedom platform below cockpit, can completes to lift, traversing, vertical shift, three linear motions and yaw,
Pitching, three rotary motions of rolling；The critical piece of six degree of freedom platform is six servo electric jars, is filtered according to optimal wash-off
The spatial attitude of the motion control software control cockpit of algorithm establishment；It is rotating platform below six degree of freedom platform, is six free
It spends yaw maneuver and increases a redundant degree of freedom；Vehicle chassis front two-wheeled be driving wheel, driven by servo motor, behind two-wheeled
For driven wheel；Two servo motors can allow vehicle chassis straight line moving or differential to be turned；Vehicle chassis front end is equipped with road
Curvature detection device, detection vehicle operation front are oriented to the curvature of fin, and instruction two wheels driving servo motor corrects differential at any time
Than；Vehicle chassis has wheel gas-liquid suspension mechanism adjust automatically wheel ground pressure, with keeping four wheel loads balanced, both keeps in this way
Occupant is not comfortably again so that two driving wheels generate differential ratio error because skidding；According to dark rider scale and performance on driving route
Arrangement has more rider vehicle travelings；It is oriented to the prefabricated vehicle line for riding vehicle of fin, each is ridden when vehicle sets out and assigns
Time parameter, time dimension generate electronic map together with the geometric space dimension of vehicle line；It is often driven to when riding vehicle
Near one piece of screen, electronic map marker triggers audio-visual devices and plays audiovisual materials；Control is integrally performed in item of recreation to calculate
Under the control of machine system, it is interactive with video display plot to ride vehicle；The six-freedom motion that vehicle has is ridden, chassis rotates, online
Traveling mechanism runs these and acts the interaction both participated in video display；Interaction has accurately position control, speed control and acceleration
Control；, sometimes can also be above in the left and right and front for riding vehicle heading, there are many people, ghost, beast, monster, texturing machines
The dynamic models such as tool, cartoon；It is often driven near each dynamic machine mould when riding vehicle, electronic map location data-triggered dynamic
Machine mould acts；Under integrally performance control computer system control, vehicle and dynamic machine mould sound, light, form, position, wet are ridden
The interactions such as degree, flow, water mist, cold-hot wind, smell；Every staged position, electronic map instruction are ridden vehicle and are stopped, rotation
Vehicle face or side are closed to performing scene, wheel gas-liquid suspension arrangement hydraulic valve, and wheel distance away the ground is fixed, and chassis is kept
There is not vibration elastic up and down with vehicle performance action, then according to the six degree of freedom platform of drama vehicle with video display or machine mould or
Special efficacy or interactive equipment action；After the completion of the performance of this position, vehicle drives towards next staged position；In vehicle traveling, vehicle
Compartment can still carry out rotation and six-freedom motion according to the variation of scenery acousto-optic on the way according to performance layout；Road curvature detects
Electronic map generates a local zone time more afterwards in the scan data and car-mounted computer of device, and this time is written and is reported
Text is reported by communication link and gives item of recreation central computer, and central computer is just known by this so-called local zone time
Vehicle location at this time；The equipment such as every rider vehicle and on the way video display, machine mould, special efficacy receive the system of item of recreation central computer
One clock synchronizes control.
2. a kind of dark rider road curvature detection system：It is equipped with and leads along the dark carriage way center line for riding Vehicular system
To fin；High-precision angle sensor is installed on the chassis front end center line of dark rider vehicle；In the shaft of angular transducer
Equipped with a detection bar；The front end for detecting bar is equipped with a pair of of idler wheel, and two idler wheels clamp guiding fin；Two idler wheel axle center are wired to angle
The angle spent between the geodesic line and chassis of vehicle body center line in sensor swing rod axle center can be oriented to the curved of fin with road vehicle front
Bent and change, the angle value of this angle is measured by angular transducer at any time, and is transferred to car-mounted computer；Road curvature detects
The guiding fin curvature data that device obtains be speed discrepancy vehicle drive system turning operation foundation, be all kinds of performances sequential according to
According to, be the monitoring foundation of the in-orbit position of vehicle, be Master Control Room scheduling original foundation；Road curvature detection system can be in 2 dimensions
Plane uses, it is suitble to dark rider project road to build project in one plane only there are one angle variables in this way；Road
Curvature detection system can be used in 3 dimension solid spaces, it has 2 orthogonal angle variables in this way, is suitble to dark rider project
Road rises and falls or the project of multilayer operation；No matter whether sensor uses angular transducer, also no matter detects whether bar is mounted in
In front of car body, as long as using the change detection bend curvature by the angle of angle between car body and lever of the present invention, all
Cover within the present invention.
3. a kind of dark 4 dimension electronic maps for riding Vehicular system：Rider vehicle equipped with road curvature detection system is on road
Upper operation one time, computer just remembers the shape of entire road；The guiding fin center line of design drawing can also be moved towards number
According to computer is write direct, trend of road space geometry part is obtained；It rides vehicle actually performing when driving, road curvature is visited
The real road curvature value that survey device detects can be obtained constantly constantly by computer compared with electronic map and ride vehicle
Instantaneous in-orbit position；There is the instantaneous in-orbit position for riding vehicle, item of recreation center-controlling computer can be with synchronization time
Form publication instruction, triggering and coordinate performance step；There are many for in-orbit rider vehicle, since each rider vehicle instantaneously exists
Line position is different, and the geometric map that each car 3 is tieed up, which is additionally added, is pertaining only to the respective and different from each other time dimension of each car
Degree forms dark Vehicular system 4 of riding and ties up electronic map；The 4 dimension electronic maps that dark rides vehicle can multiply each online
The present position of cycling is reported directly to project center control computer, it is not necessary to arrange other in-orbit rider vehicle location again
Detection system；4 dimension electronic maps make dark rider vehicle whole service system, project entirely perform control, can be smoothed out
Synchronous control.
4. a kind of introducing the dark six degree of freedom rider vehicle movement platform for riding Vehicular system by washout filter algorithm：The present invention
Rider vehicle cabin and turntable between be six degree of freedom platform, according to optimal washout filter algorithm establishment motion control software
Control the spatial attitude of cockpit；The long acceleration body-sensing of the rider vehicle occupant of the present invention is the stretching by servo electric jar
Amount under the acceleration rate threshold less than human perception " returning steathily " is realized；Practical calculating is the head according to Men's average height
Portion vestibular position calculates, and in view of human body calculates the factors such as acceleration threshold of perception current difference all around；The present invention
It is that of the same trade for the first time introduce this cybernetics mathematical method of optimal washout filter algorithm rides vehicle six degree of freedom platform courses
Software algorithm；It is all belong to ride vehicle six degree of freedom control in resolved using optimal washout filter algorithm or framework control calculation
Method, no matter it is dark ride how different Vehicular system is or deformation, be all covered by the present invention, have no objection.
5. a kind of road curvature detection agency and the differential association system for riding drive mechanism for vehicle of servo motor：The present invention's multiplies
Cycling vehicle chassis front two-wheeled be driving wheel, driven by servo motor, behind two-wheeled be driven wheel；Two servo motors with
Speed discrepancy strategy is turned by vehicle chassis straight line moving and differential；Vehicle chassis front end is equipped with road curvature detection device, curvature
Numerical value corrects the differential ratio of driving wheel of vehicle immediately after car-mounted computer operation；Association system is two driving wheels and two quilts
It has moved and has attached gas-liquid suspension arrangement；Gas-liquid suspension arrangement is passive delivery.
6. a kind of dark control strategy for riding Vehicular system：It is many that the dark rider Vehicular system of the present invention does not have to setting on the way
Position sensor, so that it may to know vehicle specific location；Vehicle only receives beginning and end position signal, clock, and from drilling
Go out the interrupt signal of control centre's computer；Communication is succinct, and speed is fast；Vehicle present position indicates to return to performance control with clock
The numerical value that central computer curvature detection the arrives not still foundation of traffic route, moreover, the changing rule road according to data is bent
4 dimension electronic maps generate a local zone time more afterwards in the scan data and car-mounted computer of rate detection device, and by this
Message is written in time, is reported by communication link and gives item of recreation central computer, central computer passes through this so-called local
Time just knows vehicle location at this time；Vehicle is ridden in each performance scene with movement (including the vehicle bottom of drama plot
Disk rotates and the movement of six degree of freedom platform) instruction software is all previously downloaded in car-mounted computer；The broadcasting frame of movie and video programs contains
The instruction of having time code (timestamp), the action command of machine mould, the timing instructions of special efficacy, Control Console, sound equipment etc. all contains sometimes
Between code；Ride vehicle curvature detection device scanning be oriented to fin, angle signal handled by car-mounted computer after with car-mounted computer
In 4 dimension electronic maps compare；4 dimension electronic maps of each car are also added in each point in addition to the numerical value containing space geometry point
One-dimensional time variable；The time value write-in message that car-mounted computer need to only tie up which point instantaneous on electronic map by 4 is uploaded to
Project center control computer, central computer are just aware of the instantaneous position of this trolley；Central computer downward message
Time code is only issued, Vehicular system is ridden and each time is just corresponded to the action command execution to prestore；Central computer is continuous
Time code is issued, riding vehicle just has continuous action, then forms vehicle and imitates the continuous servo-actuated of sound equipment with video machine model；
In the writing agreement of time code, some times are not present in 4 dimension electronic maps, they represent other instruction,
Such as all kinds of interruptions；The time that central computer issues is unified, and each vehicle is connected to this time can be with respective 4 dimension electricity
Sub- map corresponds to, and the instruction of generation is different；This set control strategy especially adapts to entire project kinematic system and performs system
Time synchronization is particularly suitable for the numerous dark rider projects of complicated large size of measuring control point；The scientific and technical personnel of non-present invention read this hair
It completely can be because seeing that technical know-how develops similar control strategy or algorithm easily, as long as so riding vehicle in dark after bright
Used in system 4 dimension electronic maps and unified clock publication covered by the present invention.
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| CN201710300133.4A CN108786122B (en) | 2017-05-02 | 2017-05-02 | Dark ride vehicle system |
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| CN201710300133.4A CN108786122B (en) | 2017-05-02 | 2017-05-02 | Dark ride vehicle system |
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