CN110706538A - Simulation tower climbing training platform based on virtual reality technology - Google Patents
Simulation tower climbing training platform based on virtual reality technology Download PDFInfo
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Abstract
The utility model provides a simulation training platform of climbing tower based on virtual reality technique, including training equipment and analog system, analog system includes head-mounted device, hand equipment, foot equipment and terminal computer, head-mounted device includes wear control module, wear communication module, wear inertial measurement module, camera module and display module, hand equipment includes hand control module, hand communication module, hand orientation module, hand inertial measurement module, hand pressure sensor and heart rate sensor, foot equipment includes foot control module, foot communication module, foot orientation module, foot inertial measurement module and foot pressure sensor, the terminal computer includes terminal computer processing module, data receiving module, the video stream processing module, VR data transmission module, display module and storage module. The design not only can completely simulate the scene of actual climbing of the transmission line tower, but also can enable training personnel to exercise physical ability of the training personnel when simulating climbing.
Description
Technical Field
The invention relates to the technical field of power transmission lines and virtualization, in particular to a simulated tower climbing training platform based on a virtual reality technology.
Background
At present, a power transmission line is a heavy asset of a whole power system, daily operation and maintenance of the power transmission line are important ways for maintaining power transmission stability and power grid reliability, a pole tower in the power transmission line plays a key role, a pole tower is also a carrier of an insulator and a ground wire, and a fixed ladder stand on the pole tower of the power transmission line provides a convenient climbing means for operators to ascend, patrol, detect and maintain. Along with the gradual rise of voltage class, transmission line shaft tower is also rising gradually, and is also higher and higher to the height that the staff need climb when carrying out maintenance work like this to climb the shaft tower and be one in transmission line maintenance work and consume physical stamina height, bear the big operation process of psychological pressure, it is very high to staff's physical power and psychological compressive capacity requirement, also make maintainer's personal safety risk increase simultaneously. In order to avoid falling risks of operating personnel in the tower climbing process, the invention develops a simulated tower climbing training platform based on a virtual reality technology.
Disclosure of Invention
The invention aims to provide a simulated tower climbing training platform based on a virtual reality technology, which can simulate an actual climbing process and can be used for training, for a maintainer, so that the maintainer can know the actual situation of the maintainer in the climbing process, and has intuitive experience on the distribution of physical strength of the maintainer in the climbing process and the height of the position of the maintainer in the climbing process, and meanwhile, the tower climbing training can be carried out by using the platform.
In order to achieve the above purpose, the technical solution of the invention is as follows: a simulated tower-climbing training platform based on virtual reality technology comprises training equipment and a simulation system;
the training equipment comprises a hand climbing simulation device and a foot climbing simulation device;
the hand climbing simulation device is used for simulating the condition of the arms of the training personnel in the climbing process;
the foot climbing simulation device is used for simulating the process of climbing by lifting legs of a trainer in the climbing process;
the simulation system comprises head-mounted equipment, hand equipment, foot equipment and a terminal computer;
the head-mounted equipment comprises a head-mounted control module, a head-mounted communication module, a head-mounted inertial measurement module, a first camera, a second camera, a head-mounted display module and a head-mounted power supply;
the head-wearing inertial measurement module is used for collecting the motion data of the head of the training person and sending the head motion data to the head-wearing control module;
the first camera is used for collecting hand image information of a training person and sending hand image data to the head-mounted control module through the head-mounted video stream processing module;
the second camera is used for collecting foot image information of the training personnel and sending the foot image data to the head-wearing control module through the head-wearing video stream processing module;
the head-mounted power supply is used for supplying power to the head-mounted control module;
the hand equipment is arranged on the hand climbing simulation device and comprises a hand control module, a hand communication module, a hand positioning module, a hand inertia measurement module, a hand pressure sensor and a hand power supply;
the hand inertia measurement module is used for collecting motion data of the hands of the training personnel and sending the hand motion data to the hand control module;
the hand pressure sensor is used for collecting pressure data of the hands of the trainees and sending the hand pressure data to the hand control module;
the hand positioning module is used for acquiring the position coordinates of the hands of the training personnel and sending the position coordinates of the hands to the hand control module;
the hand control module is used for processing the received hand data and sending the processed hand data to the head control module through the hand communication module and the head communication module;
the hand power supply is used for supplying power to the hand control module;
the foot equipment is arranged on the foot climbing simulation device and comprises a foot control module, a foot communication module, a foot positioning module, a foot inertia measurement module, a foot pressure sensor and a foot power supply;
the foot inertia measurement module is used for acquiring the motion data of the feet of the trainers and sending the foot motion data to the foot control module;
the foot pressure sensor is used for collecting pressure data of the feet of the trainers and sending the foot pressure data to the foot control module;
the foot positioning module is used for acquiring the position coordinates of the feet of the trainee and sending the position coordinates of the feet to the foot control module;
the foot control module is used for processing the received foot data and sending the processed foot data to the head-mounted control module through the foot communication module and the head-mounted communication module;
the foot power supply is used for supplying power to the foot control module;
the terminal computer comprises a terminal computer processing module, a data receiving module, a video stream processing module, a VR data transmission module, a terminal computer display module, a terminal computer storage module and a power supply;
the power supply is used for supplying power to the terminal computer processing module;
the head-wearing control module is used for generally packaging the received head data, hand data and foot data and sending the data to the terminal computer processing module through the head-wearing communication module and the data receiving module;
the terminal computer storage module is used for storing the head data, the hand data and the foot data received by the terminal computer processing module and storing the scene data of virtual reality;
the terminal computer processing module is used for integrating the received data, controlling the video stream processing module to process the integrated data into a main view angle data stream, controlling the VR data transmission module and the head-mounted communication module to send the main view angle data stream to the head-mounted control module, and controlling the head-mounted display module to display by the head-mounted control module;
the video streaming processing module is further used for integrating the received data and the virtual reality scene data, controlling the video streaming processing module to process the integrated data into an observer visual angle data stream, and controlling the VR data transmission module to transmit the observer visual angle data stream to the terminal computer display module for display.
The head inertial measurement module, the hand inertial measurement module and the foot inertial measurement module are six-axis inertial measurement modules and comprise acceleration sensors and gyroscopes;
the acceleration sensor is used for monitoring the motion acceleration of the training personnel;
and the gyroscope is used for monitoring the movement direction of the training personnel.
The hand device further comprises a heart rate sensor;
the heart rate sensor is used for collecting the heart rate of training personnel and sending the heart rate signal to the hand control module, the hand control module sends the received heart rate signal to the head-wearing control module through the hand communication module and the head-wearing communication module in sequence, and the head-wearing control module controls the head-wearing display module to convert the heart rate signal into a heart rate value for display.
The head-mounted device further comprises a head-mounted storage module;
the head-wearing storage module is used for storing the head data, the hand data and the foot data received by the head-wearing control module.
The head-mounted device further comprises a power management module;
and the power supply management module is used for controlling the head-mounted power supply to supply power to the head-mounted control module.
The hand climbing simulation device comprises a vertical rod and a horizontal rod, the middle of the horizontal rod is hinged to the vertical rod through a connecting shaft, and hand equipment is mounted at the positions, located on the two sides of the vertical rod, on the horizontal rod.
The connecting axle includes a shaft and No. two, No. three axles that are connected rather than both ends respectively, the diameter of a shaft is less than the diameter of No. two axles, the diameter of No. three axles, No. two axles are connected with the montant, the circular port has been seted up at the middle part of horizontal pole, and the horizontal pole passes through circular port suit and is epaxial No. one, is provided with the steel ball between the inner wall of horizontal pole and the outer wall of a axle.
Foot climbing analogue means includes montant and pivot, the lower part both sides of montant are provided with the boss, set up the through-hole that runs through the montant on the boss, the pivot is provided with the steel ball through the through-hole cartridge on the montant between the outer wall of pivot and the inner wall of montant, and the both ends symmetric connection of pivot has the circle axle, and three footboards are installed along the circumferencial direction of circle axle to the one end that the pivot was kept away from to the circle axle, and the contained angle between two adjacent footboards is 120 degrees, installs foot's equipment on the footboard.
One end of the pedal is provided with an L-shaped notch, one inner side surface of the L-shaped notch is attached to the end surface of the round shaft, and the other inner side surface of the L-shaped notch is attached to the outer wall of the round shaft.
Compared with the prior art, the invention has the beneficial effects that:
1. the simulated tower climbing training platform in the simulated tower climbing training platform based on the virtual reality technology comprises training equipment and a simulation system, wherein the training equipment comprises a hand climbing simulation device and a foot climbing simulation device; the virtual reality technology is combined with training equipment, so that the scene of actual climbing of the power transmission line tower can be completely simulated, and training personnel can exercise physical ability of the training personnel during simulated climbing.
2. According to the simulated tower climbing training platform based on the virtual reality technology, the climbing process of the training personnel can be recorded through the positioning modules in the hand equipment and the foot equipment, so that the climbing height of the training personnel is displayed in the head-mounted device, and the training personnel can feel intuitional in the time and distance of climbing the tower; the climbing process of the training personnel in the field reality can be truly simulated through the positioning module and the virtual reality technology, the training personnel can adapt to the climbing process more quickly, and the psychological bearing capacity of the training personnel to the height is increased.
3. The head-wearing inertial measurement module, the hand inertial measurement module and the foot inertial measurement module in the simulated tower-climbing training platform based on the virtual reality technology are six-axis inertial measurement modules, comprise the acceleration sensor and the gyroscope and are used for monitoring the motion acceleration and the motion direction of a trainer, the climbing state of the trainer can be reflected more accurately, and the trainer has more real sensory experience.
4. The hand equipment in the simulated tower climbing training platform based on the virtual reality technology further comprises a heart rate sensor, the heart rate sensor is used for collecting the heart rate of training personnel and sending heart rate signals to the hand control module, the hand control module sends the received heart rate signals to the head-wearing control module through the hand communication module and the head-wearing communication module in sequence, and the head-wearing control module controls the head-wearing display module to convert the heart rate signals into heart rate values to be displayed; adopt heart rate sensor, can let training personnel look over the heart rate situation of change of oneself often, also can let training personnel in time adjust the state of oneself, also can let the training personnel of other waits for know the condition at training personnel simultaneously, meet emergency and can in time discover and take effectual first aid measure.
5. The hand climbing simulation device in the simulated tower climbing training platform based on the virtual reality technology comprises a vertical rod and a cross rod, wherein the middle part of the cross rod is hinged with the vertical rod through a connecting shaft, and the lever principle is adopted to simulate the state of arms in the climbing process; the foot climbing simulation device comprises a vertical rod and a rotating shaft, wherein the rotating shaft is inserted in the vertical rod through a through hole, steel balls are arranged between the outer wall of the rotating shaft and the inner wall of the vertical rod, two ends of the rotating shaft are symmetrically connected with a round shaft, three pedals are arranged at one end of the round shaft along the circumferential direction of the round shaft, and the included angle between every two adjacent pedals is 120 degrees, so that the process of lifting legs of a trainer to climb can be really simulated during simulated training, and the trainer can have real climbing experience during training and can also play a role in exercising physical ability of the trainer through the assistance of the training equipment; the foot climbing simulation device with the structure is simple in structure and high in reliability.
Drawings
Fig. 1 is a schematic view of the structure of the training apparatus of the present invention.
Fig. 2 is a schematic view illustrating an assembly structure of the cross bar and the connecting shaft in fig. 1.
Fig. 3 is a schematic view showing an assembly structure of the circular shaft and the pedal of fig. 1.
Fig. 4 is a schematic view of the structure of the step of fig. 3.
FIG. 5 is a data flow diagram of the simulated tower-climbing training platform of the present invention.
Fig. 6 is a schematic view of the structure of the head set of the present invention.
Fig. 7 is a schematic structural view of the hand device of the present invention.
Fig. 8 is a schematic view of the structure of the foot device of the present invention.
Fig. 9 is a schematic diagram of the structure of the terminal computer in the present invention.
Fig. 10 is a training flow chart of a simulated tower climbing training platform based on virtual reality technology.
In the figure: a head-mounted device 1, a head-mounted control module 11, a head-mounted communication module 12, a head-mounted inertial measurement module 13, a first camera 14, a second camera 15, a head-mounted display module 16, a head-mounted power supply 17, a head-mounted video stream processing module 18, a head-mounted storage module 19, a power management module 110, a hand device 2, a hand control module 21, a hand communication module 22, a hand positioning module 23, a hand inertial measurement module 24, a hand pressure sensor 25, a hand power supply 26, a heart rate sensor 27, a foot device 3, a foot control module 31, a foot communication module 32, a foot positioning module 33, a foot inertial measurement module 34, a foot pressure sensor 35, a foot power supply 36, a terminal computer 4, a terminal computer processing module 41, a data receiving module 42, a video stream processing module 43, a VR data transmission module 44, a terminal computer display module 45, a data transmission module 32, a computer display module 32, terminal computer memory module 46, power 47, montant 5, boss 51, horizontal pole 6, connecting axle 7, No. one axle 71, No. two axles 72, No. three axle 73, pivot 8, round axle 9, sunken 91, footboard 10, L type breach 101.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 10, a simulated tower-climbing training platform based on virtual reality technology includes training equipment and a simulation system;
the training equipment comprises a hand climbing simulation device and a foot climbing simulation device;
the hand climbing simulation device is used for simulating the condition of the arms of the training personnel in the climbing process;
the foot climbing simulation device is used for simulating the process of climbing by lifting legs of a trainer in the climbing process;
the simulation system comprises a head-mounted device 1, a hand device 2, a foot device 3 and a terminal computer 4;
the head-mounted equipment 1 comprises a head-mounted control module 11, a head-mounted communication module 12, a head-mounted inertial measurement module 13, a first camera 14, a second camera 15, a head-mounted display module 16 and a head-mounted power supply 17;
the head inertial measurement module 13 is used for acquiring the motion data of the head of the training person and sending the head motion data to the head control module 11;
the first camera 14 is used for acquiring hand image information of a training person and sending hand image data to the head-mounted control module 11 through the head-mounted video stream processing module 18;
the second camera 15 is configured to collect foot image information of a trainee, and send foot image data to the head-mounted control module 11 through the head-mounted video stream processing module 18;
the head-mounted power supply 17 is used for supplying power to the head-mounted control module 11;
the hand equipment 2 is installed on the hand climbing simulation device, and the hand equipment 2 comprises a hand control module 21, a hand communication module 22, a hand positioning module 23, a hand inertia measurement module 24, a hand pressure sensor 25 and a hand power supply 26;
the hand inertia measurement module 24 is used for collecting motion data of the hands of the trainee and sending the hand motion data to the hand control module 21;
the hand pressure sensor 25 is used for collecting pressure data of the hands of the trainee and sending the hand pressure data to the hand control module 21;
the hand positioning module 23 is used for acquiring position coordinates of the hands of the training personnel and sending the position coordinates of the hands to the hand control module 21;
the hand control module 21 is configured to process the received hand data, and send the processed hand data to the head-mounted control module 11 through the hand communication module 22 and the head-mounted communication module 12;
the hand power supply 26 is used for supplying power to the hand control module 21;
the foot equipment 3 is installed on the foot climbing simulation device, and the foot equipment 3 comprises a foot control module 31, a foot communication module 32, a foot positioning module 33, a foot inertia measurement module 34, a foot pressure sensor 35 and a foot power supply 36;
the foot inertia measurement module 34 is used for acquiring motion data of the feet of the trainers and sending the foot motion data to the foot control module 31;
the foot pressure sensor 35 is used for acquiring pressure data of the feet of the trainers and sending the foot pressure data to the foot control module 31;
the foot positioning module 33 is used for acquiring the position coordinates of the feet of the trainee and sending the position coordinates of the feet to the foot control module 31;
the foot control module 31 is configured to process the received foot data, and send the processed foot data to the head-mounted control module 11 through the foot communication module 32 and the head-mounted communication module 12;
the foot power supply 36 is used for supplying power to the foot control module 31;
the terminal computer 4 comprises a terminal computer processing module 41, a data receiving module 42, a video stream processing module 43, a VR data transmission module 44, a terminal computer display module 45, a terminal computer storage module 46 and a power supply 47;
the power supply 47 is used for supplying power to the terminal computer processing module 41;
the head-wearing control module 11 is used for packaging the received head data, hand data and foot data as a whole and sending the data to the terminal computer processing module 41 through the head-wearing communication module 12 and the data receiving module 42;
the terminal computer storage module 46 is used for storing the head data, the hand data and the foot data received by the terminal computer processing module 41 and storing the scene data of the virtual reality;
the terminal computer processing module 41 is configured to perform integration processing on the received data, control the video stream processing module 43 to process the integrated data into a main view data stream, control the VR data transmission module 44 and the head-mounted communication module 12 to send the main view data stream to the head-mounted control module 11, and control the head-mounted display module 16 to display by the head-mounted control module 11;
and is further configured to integrate the received data with the virtual reality scene data, control the video stream processing module 43 to process the integrated data into an observer viewing angle data stream, and control the VR data transmission module 44 to transmit the observer viewing angle data stream to the terminal computer display module 45 for display.
The head inertial measurement module 13, the hand inertial measurement module 24 and the foot inertial measurement module 34 are all six-axis inertial measurement modules and comprise acceleration sensors and gyroscopes;
the acceleration sensor is used for monitoring the motion acceleration of the training personnel;
and the gyroscope is used for monitoring the movement direction of the training personnel.
The hand device 2 further comprises a heart rate sensor 27;
heart rate sensor 27 for gather training personnel's heart rate, and with heart rate signal transmission to hand control module 21, hand control module 21 sends received heart rate signal to wearing control module 11 through hand communication module 22, head-mounted communication module 12 in proper order, and head-mounted control module 11 control head-mounted display module 16 converts heart rate signal into heart rate value and shows.
The head-mounted device 1 further comprises a head-mounted storage module 19;
the head-mounted storage module 19 is used for storing the head data, the hand data and the foot data received by the head-mounted control module 11.
The head-mounted device 1 further comprises a power management module 110;
the power management module 110 is configured to control the head-mounted power supply 17 to supply power to the head-mounted control module 11.
The hand climbing simulation device comprises a vertical rod 5 and a horizontal rod 6, the middle of the horizontal rod 6 is hinged to the vertical rod 5 through a connecting shaft 7, and hand equipment 2 are mounted at positions, located on two sides of the vertical rod 5, on the horizontal rod 6.
The connecting shaft 7 comprises a first shaft 71, a second shaft 72 and a third shaft 73 which are connected with two ends of the first shaft 71 respectively, the diameter of the first shaft 71 is smaller than that of the second shaft 72 and that of the third shaft 73, the second shaft 72 is connected with the vertical rod 5, a circular hole is formed in the middle of the cross rod 6, the cross rod 6 is sleeved on the first shaft 71 through the circular hole, and a steel ball is arranged between the inner wall of the cross rod 6 and the outer wall of the first shaft 71.
Foot climbing analogue means includes montant 5 and pivot 8, the lower part both sides of montant 5 are provided with boss 51, offer the through-hole that runs through montant 5 on the boss 51, pivot 8 passes through the through-hole cartridge on montant 5, is provided with the steel ball between the outer wall of pivot 8 and the inner wall of montant 5, and the both ends symmetric connection of pivot 8 has a round axle 9, and three pedals 10 are installed along the circumferencial direction of round axle 9 to the one end that pivot 8 was kept away from to round axle 9, and the contained angle between two adjacent pedals 10 is 120 degrees, installs foot's equipment 3 on the pedal 10.
One end of the pedal 10 is provided with an L-shaped notch 101, one inner side surface of the L-shaped notch 101 is attached to the end surface of the circular shaft 9, and the other inner side surface of the L-shaped notch 101 is attached to the outer wall of the circular shaft 9.
The principle of the invention is illustrated as follows:
the hand pressure sensor collects pressure data of the hands of the trainee (namely the stress condition of the hands of the trainee); the hand control module processes the received data, sends the data to the hand communication module, sends the data to the head communication module through the hand communication module, and then sends the data to the head control module through the head communication module.
The foot pressure sensor acquires pressure data of the feet of the trainee (namely the stress condition of the feet of the trainee); the foot control module processes the received data, sends the data to the foot communication module, sends the data to the head-mounted communication module through the foot communication module, and then sends the data to the head-mounted control module through the head-mounted communication module.
Wear communication module and will follow hand equipment and foot equipment received data transmission to wear control module, wear control module and combine training personnel's head motion data, hand motion data, foot motion data, control display module shows, perfect the sense of reality of simulation for display module shows more accurate virtual scene, realizes the immersive of the climbing training platform of trick combination and experiences, has improved the authenticity of the virtual environment that training personnel experienced.
The heart rate sensor is connected with the hand control module, collects a heart rate signal and then sends the heart rate signal to the hand control module; hand control module passes through hand communication module, wear communication module with the heart rate signal of receiving and conveys to wear control module, wears control module control display module, converts heart rate signal into heart rate value and shows in the upper left corner.
The hand control module is connected with the first communication module and the second communication module of the head communication module; the foot equipment comprises six pieces of foot equipment, wherein three communication modules of the left foot and three communication modules of the right foot are respectively connected with a third communication module and a fourth communication module of the head-mounted communication module; and the fifth communication module is used for data transmission between the head-mounted equipment and the terminal computer.
FIG. 5 is a data flow diagram of the training platform after data collection, and finally a virtual reality image is formed for training personnel to perform simulation training; the terminal computer processing module further processes data of the data stream, processes and integrates the motion state of the human body, the climbing position information and the overall motion information of the human body, then transmits the data stream to the head-mounted equipment through the VR transmission module, displays the data stream through the head-mounted equipment display module, and feeds the data stream back to the trainee, wherein the data stream is called as a main visual angle data stream because the data stream is the overall condition which can be seen by the trainee; the terminal computer processing module integrates the collected data stream and the virtual reality scene data to form new integral video data, and then transmits the integral video data to the terminal computer display module to display the condition of the whole scene, so that the condition of the training personnel and the whole virtual scene can be observed, and the condition is called as the observer viewing angle.
Fig. 10 is a training flowchart of a simulated tower climbing training platform based on virtual reality technology, which can select different virtual scenes for training according to different requirements of training personnel.
The center of the circular shaft 9 shown in fig. 3 is provided with a recess 91, and the circular shaft 9 is fixedly connected with the rotating shaft through the recess 91.
Example 1:
referring to fig. 1 to 10, a simulated tower-climbing training platform based on virtual reality technology includes training equipment and a simulation system; the training equipment comprises a hand climbing simulation device and a foot climbing simulation device; the hand climbing simulation device is used for simulating the condition of the arms of the training personnel in the climbing process; the foot climbing simulation device is used for simulating the process of climbing by lifting legs of a trainer in the climbing process;
the simulation system comprises a head-mounted device 1, a hand device 2, a foot device 3 and a terminal computer 4;
the head-mounted device 1 comprises a head-mounted control module 11, a head-mounted communication module 12, a head-mounted inertial measurement module 13, a first camera 14, a second camera 15, a head-mounted display module 16, a head-mounted power supply 17, a head-mounted storage module 19 and a power supply management module 110;
the head inertial measurement module 13 is used for acquiring the motion data of the head of the training person and sending the head motion data to the head control module 11;
the first camera 14 is used for acquiring hand image information of a training person and sending hand image data to the head-mounted control module 11 through the head-mounted video stream processing module 18;
the second camera 15 is configured to collect foot image information of a trainee, and send foot image data to the head-mounted control module 11 through the head-mounted video stream processing module 18;
the head-mounted power supply 17 is used for supplying power to the head-mounted control module 11;
the head-wearing storage module 19 is used for storing the head data, the hand data and the foot data received by the head-wearing control module 11;
the power management module 110 is configured to control the head-mounted power supply 17 to supply power to the head-mounted control module 11;
the hand equipment 2 is installed on the hand climbing simulation device, and the hand equipment 2 comprises a hand control module 21, a hand communication module 22, a hand positioning module 23, a hand inertia measurement module 24, a hand pressure sensor 25 and a hand power supply 26;
the hand inertia measurement module 24 is used for collecting motion data of the hands of the trainee and sending the hand motion data to the hand control module 21;
the hand pressure sensor 25 is used for collecting pressure data of the hands of the trainee and sending the hand pressure data to the hand control module 21;
the hand positioning module 23 is used for acquiring position coordinates of the hands of the training personnel and sending the position coordinates of the hands to the hand control module 21;
the hand control module 21 is configured to process the received hand data, and send the processed hand data to the head-mounted control module 11 through the hand communication module 22 and the head-mounted communication module 12;
the hand power supply 26 is used for supplying power to the hand control module 21;
the foot equipment 3 is installed on the foot climbing simulation device, and the foot equipment 3 comprises a foot control module 31, a foot communication module 32, a foot positioning module 33, a foot inertia measurement module 34, a foot pressure sensor 35 and a foot power supply 36;
the foot inertia measurement module 34 is used for acquiring motion data of the feet of the trainers and sending the foot motion data to the foot control module 31;
the foot pressure sensor 35 is used for acquiring pressure data of the feet of the trainers and sending the foot pressure data to the foot control module 31;
the foot positioning module 33 is used for acquiring the position coordinates of the feet of the trainee and sending the position coordinates of the feet to the foot control module 31;
the foot control module 31 is configured to process the received foot data, and send the processed foot data to the head-mounted control module 11 through the foot communication module 32 and the head-mounted communication module 12;
the foot power supply 36 is used for supplying power to the foot control module 31;
the terminal computer 4 comprises a terminal computer processing module 41, a data receiving module 42, a video stream processing module 43, a VR data transmission module 44, a terminal computer display module 45, a terminal computer storage module 46 and a power supply 47;
the power supply 47 is used for supplying power to the terminal computer processing module 41;
the head-wearing control module 11 is used for packaging the received head data, hand data and foot data as a whole and sending the data to the terminal computer processing module 41 through the head-wearing communication module 12 and the data receiving module 42;
the terminal computer storage module 46 is used for storing the head data, the hand data and the foot data received by the terminal computer processing module 41 and storing the scene data of the virtual reality;
the terminal computer processing module 41 is configured to perform integration processing on the received data, control the video stream processing module 43 to process the integrated data into a main view data stream, control the VR data transmission module 44 and the head-mounted communication module 12 to send the main view data stream to the head-mounted control module 11, and control the head-mounted display module 16 to display by the head-mounted control module 11;
and is further configured to integrate the received data with the virtual reality scene data, control the video stream processing module 43 to process the integrated data into an observer viewing angle data stream, and control the VR data transmission module 44 to transmit the observer viewing angle data stream to the terminal computer display module 45 for display.
Example 2:
the basic contents are the same as example 1, except that:
the head inertial measurement module 13, the hand inertial measurement module 24 and the foot inertial measurement module 34 are all six-axis inertial measurement modules and comprise acceleration sensors and gyroscopes;
the acceleration sensor is used for monitoring the motion acceleration of the training personnel;
and the gyroscope is used for monitoring the movement direction of the training personnel.
Example 3:
the basic contents are the same as example 1, except that:
referring to fig. 6 and 7, the hand device 2 further comprises a heart rate sensor 27;
heart rate sensor 27 for gather training personnel's heart rate, and with heart rate signal transmission to hand control module 21, hand control module 21 sends received heart rate signal to wearing control module 11 through hand communication module 22, head-mounted communication module 12 in proper order, and head-mounted control module 11 control head-mounted display module 16 converts heart rate signal into heart rate value and shows.
Example 4:
the basic contents are the same as example 1, except that:
referring to fig. 1 to 4, the hand climbing simulation device comprises a vertical rod 5 and a cross rod 6, the middle of the cross rod 6 is hinged to the vertical rod 5 through a connecting shaft 7, and hand devices 2 are mounted on the cross rod 6 at the positions on the two sides of the vertical rod 5; the connecting shaft 7 comprises a first shaft 71, a second shaft 72 and a third shaft 73 which are respectively connected with the two ends of the first shaft 71, the diameter of the first shaft 71 is smaller than that of the second shaft 72 and that of the third shaft 73, the second shaft 72 is connected with the vertical rod 5, a circular hole is formed in the middle of the cross rod 6, the cross rod 6 is sleeved on the first shaft 71 through the circular hole, and a steel ball is arranged between the inner wall of the cross rod 6 and the outer wall of the first shaft 71; the foot climbing simulation device comprises a vertical rod 5 and a rotating shaft 8, wherein bosses 51 are arranged on two sides of the lower portion of the vertical rod 5, through holes penetrating through the vertical rod 5 are formed in the bosses 51, the rotating shaft 8 is inserted in the vertical rod 5 through the through holes, steel balls are arranged between the outer wall of the rotating shaft 8 and the inner wall of the vertical rod 5, two ends of the rotating shaft 8 are symmetrically connected with a circular shaft 9, three pedals 10 are arranged at one end, away from the rotating shaft 8, of the circular shaft 9 in the circumferential direction of the circular shaft 9, the included angle between every two adjacent pedals 10 is 120 degrees, and foot equipment 3 is arranged on each pedal 10; one end of the pedal 10 is provided with an L-shaped notch 101, one inner side surface of the L-shaped notch 101 is attached to the end surface of the circular shaft 9, and the other inner side surface of the L-shaped notch 101 is attached to the outer wall of the circular shaft 9.
Claims (9)
1. The utility model provides a simulation training platform of climbing tower based on virtual reality technique which characterized in that:
the simulated tower climbing training platform comprises training equipment and a simulation system;
the training equipment comprises a hand climbing simulation device and a foot climbing simulation device;
the hand climbing simulation device is used for simulating the condition of the arms of the training personnel in the climbing process;
the foot climbing simulation device is used for simulating the process of climbing by lifting legs of a trainer in the climbing process;
the simulation system comprises a head-mounted device (1), a hand device (2), a foot device (3) and a terminal computer (4);
the head-mounted equipment (1) comprises a head-mounted control module (11), a head-mounted communication module (12), a head-mounted inertial measurement module (13), a first camera (14), a second camera (15), a head-mounted display module (16) and a head-mounted power supply (17);
the head inertial measurement module (13) is used for collecting the head movement data of the trainee and sending the head movement data to the head control module (11);
the first camera (14) is used for collecting hand image information of a training person and sending hand image data to the head-mounted control module (11) through the head-mounted video stream processing module (18);
the second camera (15) is used for collecting foot image information of a trainer and sending the foot image data to the head-mounted control module (11) through the head-mounted video stream processing module (18);
the head-mounted power supply (17) is used for supplying power to the head-mounted control module (11);
the hand equipment (2) is installed on the hand climbing simulation device, and the hand equipment (2) comprises a hand control module (21), a hand communication module (22), a hand positioning module (23), a hand inertia measurement module (24), a hand pressure sensor (25) and a hand power supply (26);
the hand inertia measurement module (24) is used for collecting motion data of the hands of the trainee and sending the hand motion data to the hand control module (21);
the hand pressure sensor (25) is used for collecting pressure data of the hands of the trainee and sending the hand pressure data to the hand control module (21);
the hand positioning module (23) is used for acquiring position coordinates of the hands of the training personnel and sending the position coordinates of the hands to the hand control module (21);
the hand control module (21) is used for processing the received hand data and sending the processed hand data to the head-mounted control module (11) through the hand communication module (22) and the head-mounted communication module (12);
the hand power supply (26) is used for supplying power to the hand control module (21);
the foot equipment (3) is installed on the foot climbing simulation device, and the foot equipment (3) comprises a foot control module (31), a foot communication module (32), a foot positioning module (33), a foot inertia measurement module (34), a foot pressure sensor (35) and a foot power supply (36);
the foot inertia measurement module (34) is used for collecting motion data of the feet of the trainee and sending the foot motion data to the foot control module (31);
the foot pressure sensor (35) is used for collecting pressure data of the feet of the trainers and sending the foot pressure data to the foot control module (31);
the foot positioning module (33) is used for acquiring the position coordinates of the feet of the trainee and sending the position coordinates of the feet to the foot control module (31);
the foot control module (31) is used for processing the received foot data and sending the processed foot data to the head-mounted control module (11) through the foot communication module (32) and the head-mounted communication module (12);
the foot power supply (36) is used for supplying power to the foot control module (31);
the terminal computer (4) comprises a terminal computer processing module (41), a data receiving module (42), a video stream processing module (43), a VR data transmission module (44), a terminal computer display module (45), a terminal computer storage module (46) and a power supply (47);
the power supply (47) is used for supplying power to the terminal computer processing module (41);
the head-wearing control module (11) is used for packaging the received head data, hand data and foot data in an overall mode and sending the data to the terminal computer processing module (41) through the head-wearing communication module (12) and the data receiving module (42);
the terminal computer storage module (46) is used for storing the head data, the hand data and the foot data received by the terminal computer processing module (41) and storing the scene data of virtual reality;
the terminal computer processing module (41) is used for integrating and processing the received data, controlling the video stream processing module (43) to process the integrated and processed data into a main view angle data stream, controlling the VR data transmission module (44) and the head-mounted communication module (12) to transmit the main view angle data stream to the head-mounted control module (11), and controlling the head-mounted display module (16) to display by the head-mounted control module (11);
the system is also used for integrating the received data and the scene data of the virtual reality, controlling a video stream processing module (43) to process the integrated data into an observer visual angle data stream, and controlling a VR data transmission module (44) to transmit the observer visual angle data stream to a terminal computer display module (45) for display.
2. The simulated tower-climbing training platform based on the virtual reality technology according to claim 1, wherein:
the head inertial measurement module (13), the hand inertial measurement module (24) and the foot inertial measurement module (34) are six-axis inertial measurement modules and comprise acceleration sensors and gyroscopes;
the acceleration sensor is used for monitoring the motion acceleration of the training personnel;
and the gyroscope is used for monitoring the movement direction of the training personnel.
3. The simulated tower-climbing training platform based on the virtual reality technology according to claim 1, wherein:
the hand device (2) further comprises a heart rate sensor (27);
heart rate sensor (27) for gather training personnel's heart rate, and with heart rate signal transmission to hand control module (21), hand control module (21) send received heart rate signal to wearing control module (11) through hand communication module (22), head-mounted communication module (12) in proper order, wear control module (11) control head-mounted display module (16) and convert heart rate signal into heart rate value and show.
4. The simulated tower-climbing training platform based on the virtual reality technology according to claim 1, wherein:
the head-mounted device (1) further comprises a head-mounted storage module (19);
the head-mounted storage module (19) is used for storing the head data, the hand data and the foot data received by the head-mounted control module (11).
5. The simulated tower-climbing training platform based on the virtual reality technology according to claim 1, wherein:
the head-mounted device (1) further comprises a power management module (110);
and the power supply management module (110) is used for controlling the head-mounted power supply (17) to supply power to the head-mounted control module (11).
6. The simulated tower-climbing training platform based on the virtual reality technology according to any one of claims 1 to 5, wherein: the hand climbing simulation device comprises a vertical rod (5) and a horizontal rod (6), the middle of the horizontal rod (6) is hinged to the vertical rod (5) through a connecting shaft (7), and hand equipment (2) are mounted at positions, located on two sides of the vertical rod (5), on the horizontal rod (6).
7. The simulated tower-climbing training platform based on the virtual reality technology according to claim 6, wherein: connecting axle (7) include a axle (71) and No. two axles (72), No. three axles (73) that are connected rather than both ends respectively, the diameter of a axle (71) is less than the diameter of No. two axles (72), the diameter of No. three axles (73), No. two axles (72) are connected with montant (5), the circular port has been seted up at the middle part of horizontal pole (6), and horizontal pole (6) are through circular port suit on axle (71), are provided with the steel ball between the inner wall of horizontal pole (6) and the outer wall of axle (71).
8. The simulated tower-climbing training platform based on the virtual reality technology according to claim 7, wherein: foot climbing analogue means includes montant (5) and pivot (8), the lower part both sides of montant (5) are provided with boss (51), offer the through-hole that runs through montant (5) on boss (51), pivot (8) are through the through-hole cartridge on montant (5), are provided with the steel ball between the outer wall of pivot (8) and the inner wall of montant (5), and the both ends symmetric connection of pivot (8) has circle axle (9), and three footboard (10) are installed along the circumferencial direction of circle axle (9) to the one end that pivot (8) were kept away from in circle axle (9), and the contained angle between two adjacent footboard (10) is 120 degrees, installs foot equipment (3) on footboard (10).
9. The simulated tower-climbing training platform based on the virtual reality technology according to claim 8, wherein: one end of the pedal (10) is provided with an L-shaped notch (101), one inner side surface of the L-shaped notch (101) is attached to the end surface of the round shaft (9), and the other inner side surface of the L-shaped notch (101) is attached to the outer wall of the round shaft (9).
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