CN112562446A - Real sense parachuting simulation training ware based on virtual reality - Google Patents
Real sense parachuting simulation training ware based on virtual reality Download PDFInfo
- Publication number
- CN112562446A CN112562446A CN202011602363.4A CN202011602363A CN112562446A CN 112562446 A CN112562446 A CN 112562446A CN 202011602363 A CN202011602363 A CN 202011602363A CN 112562446 A CN112562446 A CN 112562446A
- Authority
- CN
- China
- Prior art keywords
- platform
- winding wheel
- parachute
- simulation
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Abstract
The invention provides a virtual reality-based realistic parachute landing simulation trainer, which comprises a parachute jumping simulation unit and a simulated parachute jumping management platform, wherein the parachute jumping simulation unit comprises a frame, a control platform, an off-plane platform, a waist pull rope, a control module, a helmet module, an air supply device and a landing simulation conveyor belt; the control platform comprises a parachute platform, a turnover platform, a rotating mechanism and an adjusting mechanism, wherein the adjusting mechanism comprises a plurality of springs, a first winding wheel, a second winding wheel and a controller, the first winding wheel and the second winding wheel are mounted on the upper surface of the parachute platform, and the first winding wheel and the second winding wheel are connected with the adjacent edges of the turnover platform through steel wire ropes. The invention can realize the rotation and turning motion of the parachute landing simulation trainer, and in addition, through the arrangement of the adjusting mechanism, the rotation and turning motion of the parachute landing simulation trainer can be selectively controlled according to the actual situation, so that trainees can experience various different motion simulation environments.
Description
Technical Field
The invention relates to the field of virtual computing, in particular to a virtual reality-based real sense parachuting simulation trainer. The invention also relates to a use method of the virtual reality-based real sense parachuting simulation trainer.
Background
Military parachuting field training has the characteristics of high injury rate, more time consumption, large cost investment, difficult organization guarantee and the like, at present, rope-pull first-stage or second-stage parachute opening is mostly adopted in the conventional airborne training of our army, in the mode, only short seconds are needed from the time when a parachutist leaves an airplane to the time when the parachuting is normal, the parachutist is approximately in a projectile free falling state in several seconds, and the controllability of the posture is not large; and from the moment that the parachutist feels the parachute opening impact force (parachute opening is normal) to the moment of safe landing, several minutes are long, the several minutes are the key points of operation except special handling, and if the time is simulated as comprehensively as possible, the effect of simulated training can be greatly improved.
The invention application with publication number CN107492279A discloses a parachute landing simulator, specifically discloses a parachute landing simulator comprising at least one parachute jumping simulation unit and a simulated parachute jumping management platform; the parachute jumping simulation unit comprises a simulation unit frame, a strap module, a control platform, a liftable parachute jumping platform, a waist pull rope, a control module, a helmet module, an air supply device, a landing simulation conveyor belt and a lifting power-assisted electric cylinder; the simulated parachuting management platform comprises a training control module, a motion process simulation module, a parachuting site scene generation module, a visual display calculation module, a body feeling construction generation module and a training management and evaluation module. Above-mentioned patent application can realize the simulation of full flow of parachute-drop to the aerial attitude control of trainee's parachute-jumping overall process to a certain extent, for trainee provides diversified sense organ stimulation such as parachute-drop in-process vision, sense of hearing, body sense, nevertheless owing to lack corresponding rotation and turning device, can't realize the motion of rotation and upset state to can't provide lifelike airborne scene, greatly reduced training effect.
Disclosure of Invention
In addition, through the arrangement of the controller, the rotation and overturning motion of the parachute landing simulation trainer can be selectively controlled according to actual conditions, so that trainees can experience various different motion simulation environments.
The invention provides a virtual reality-based realistic parachute landing simulation trainer, which comprises at least one parachute jumping simulation unit and a simulated parachute jumping management platform, wherein the parachute jumping simulation unit comprises a frame and a control platform, the frame comprises a support positioned at the upper part, a base positioned at the bottom and a plurality of stand columns arranged between the support and the base;
the parachute jumping simulation unit further comprises an off-plane platform, a waist pull rope, a control module, a helmet module, an air supply device and a landing simulation conveyor belt; the simulation parachute jumping management platform is used for setting training items for the parachute jumping simulation unit, receiving various operation data of the simulator and controlling the parachute jumping simulation unit to simulate the whole parachute jumping process;
the control platform comprises a parachute sliding platform, a turning platform and a rotating mechanism, the parachute sliding platform is mounted on the support, the upper surface of the turning platform is hinged to the lower surface of the parachute sliding platform through a plurality of telescopic rods, the lower surface of the turning platform is rotatably connected with the rotating mechanism, and the rotating mechanism is connected with a trainee through a strap module;
the control platform further comprises an adjusting mechanism, the adjusting mechanism comprises a plurality of springs, a first winding wheel, a second winding wheel and a controller, the springs are in one-to-one correspondence with the telescopic rods, the springs are sleeved outside the telescopic rods, two ends of the springs are respectively connected with the parachute platform and the overturning platform, the first winding wheel and the second winding wheel are mounted on the upper surface of the parachute platform, one ends of steel wire ropes are wound on the first winding wheel and the second winding wheel, the other ends of the steel wire ropes are respectively connected with adjacent edges of the overturning platform, and the first winding wheel and the second winding wheel are connected with an alternating current servo motor through the controller.
Further, the controller comprises a change-over switch, the change-over switch is provided with four gears of 0, 1, 2 and 3, and when the change-over switch is in the gear 0, the first winding wheel and the second winding wheel do not work; when the change-over switch is in a 1 gear, only the first winding wheel works; when the change-over switch is in a 2-gear position, only the second winding wheel works; when the change-over switch is in a 3-gear position, the first winding wheel and the second winding wheel work synchronously.
Furthermore, the first winding wheel and the second winding wheel are equal in size, and the distance between the first winding wheel and the second winding wheel and the adjacent side of the overturning platform is equal.
Further, the telescopic link includes the last connecting pipe with umbrella platform lower surface fixed connection, with last connecting pipe slip cup joint's lower connecting pipe and with upset platform upper surface connection's articulated subassembly.
Furthermore, the hinge assembly comprises a ball head support connected with the overturning platform and a sliding support connected with the lower connecting pipe, an unsealed spherical space is formed inside the sliding support, a ball head of the ball head support is installed in the spherical space, and the ball head support and the sliding support can rotate freely.
Further, sliding support includes the upper bracket and with upper bracket threaded connection's undersetting, the upper bracket is connected the lower connecting pipe, and the undersetting is laminated with the bulb of bulb support, the top surface of undersetting is higher than the center of bulb, and the bottom surface of undersetting is less than the center of bulb.
Furthermore, the off-board platform is arranged on the base and can move up and down; the waist pull rope is tied behind the waist of the trainee; the control module is used for the trainee to realize various control actions on the parachute in the parachute landing simulator; the helmet module is worn on the head of a trainee and comprises virtual reality glasses, and continuous and dynamic large-visual-angle three-dimensional parachute landing environment display is provided for the trainee; the air supply device comprises a lower air supply device and a surrounding air supply device, the lower air supply device is arranged on the base, and the surrounding air supply device is arranged on the bracket; the landing simulation conveyor belt is arranged on the base.
Furthermore, the simulated parachuting management platform comprises a training control module, a simulation training unit and a simulation control module, wherein the training control module is used for setting initial conditions and special conditions of training, monitoring training processes and real-time states of the parachuting simulation units and conducting voice command on the simulation training units; the motion process simulation module is used for calculating and simulating the whole process motion condition of the parachute jumping in a three-dimensional space according to the aerodynamic model and environmental factors, wherein the environmental factors comprise atmosphere, terrain and/or landform and are combined with the manipulation data of the parachute jumping trainer; the parachute jumping field scene generating module is used for generating various elements of a landing field in the parachute jumping field; the visual display calculation module is used for calculating the visual display effect of the parachuting field and the visual display effect of the trainee according to the calculation results of the motion process simulation module and the parachuting field scene generation module, and pushing the visual display effects to the helmet module and the display screen for displaying; the motion sensing construction generation module is used for generating motion sensing construction parameters according to the motion process simulation module so as to control the operation of the motion sensing equipment in the parachute jumping simulation unit, and the motion sensing equipment comprises a control platform, a landing simulation conveyor belt, an air supply device and an effect device.
Has the advantages that:
1. in the invention, through the arrangement of the parachute sliding platform, the overturning platform, the rotating mechanism and the adjusting mechanism, the rotating motion, the left-right motion or the front-back motion and the inclined overturning motion of the parachute landing simulation trainer in the air and the combination of the motions can be realized, the complex environments such as air jolt and the like can be simulated more accurately, so that trainees can experience various different motion simulation environments, and the training effect is greatly improved; on the other hand, advanced Virtual Reality (VR) technology, electromechanical technology and human-computer interaction technology are combined, a more vivid air parachute jumping simulation training environment is constructed, visual, auditory, body feeling and other multi-directional vivid sensory stimulation in the parachute landing process is provided for a trainee, various auxiliary means such as parachute landing training organization, assessment, recording and analysis are provided for the trainee, and a one-stop solution is provided for parachute landing simulation training.
2. In the invention, the change-over switch and the four gears of the change-over switches 0, 1, 2 and 3 are arranged, so that the switching of various simulated environments can be realized, specifically, when the change-over switch is in the gear 0, the first winding wheel and the second winding wheel do not work, and the overturning platform is in a state parallel to the umbrella sliding platform; when the change-over switch is in a 1 gear, only the first winding wheel works, and the overturning platform is in a left-right or front-back overturning state at the moment; when the change-over switch is in a 2-gear position, only the second winding wheel works, and the overturning platform is in a front-back or left-right overturning state at the moment; when the change-over switch is in 3 gears, the first winding wheel and the second winding wheel work synchronously, the overturning platform is in an inclined overturning state at the moment, and the environment encountering strong wind or other dangerous scenes can be effectively simulated through selection of different states.
3. According to the invention, through the arrangement that the sizes of the first winding wheel and the second winding wheel are equal and the lengths of the first winding wheel and the second winding wheel and the adjacent sides of the overturning platform are equal, the adjacent sides of the overturning platform can be ensured to move simultaneously when the first winding wheel and the second winding wheel work synchronously, and the overturning angles of the overturning platform are consistent when the first winding wheel or the second winding wheel works independently.
4. According to the invention, through the arrangement of the telescopic rod and the hinge assembly which are sleeved with the springs, the overturning platform can be ensured to be in a certain state when the first winding wheel and the second winding wheel do not work, and the movement change of the overturning platform due to the self gravity can be avoided; in addition, the rotation of the turnover platform relative to the umbrella sliding platform at any direction angle can be realized through the arrangement of the ball head support and the sliding support, and further, the ball head support and the sliding support can be ensured not to be separated when rotating through the arrangement of the upper support, the lower support and the lower support, and the safety is ensured.
The invention also provides a use method of the virtual reality-based realistic parachuting simulation trainer, which comprises a turning simulation exercise training method, wherein the turning simulation exercise training method is used for simulating turning movement in the air, and specifically comprises the following steps:
s1, left-right or front-back overturning motion: when a change-over switch of the controller is set to 1 gear or 2 gears, the first winding wheel or the second winding wheel is in transmission connection with the alternating-current servo motor, the alternating-current servo motor intermittently rotates forwards and backwards to control the first winding wheel or the second winding wheel to wind or release the steel wire rope, and the overturning platform overcomes the resistance of the spring or overturns under the action of the elastic force of the spring;
s2, oblique and turnover movement: when a change-over switch of the controller is set at a 3-gear position, the first winding wheel and the second winding wheel are in transmission connection with the alternating-current servo motor, the alternating-current servo motor intermittently rotates forwards and backwards to control the first winding wheel and the second winding wheel to wind or release the steel wire rope, and the overturning platform overcomes the resistance of the spring or overturns under the action of the elastic force of the spring;
s3, when a change-over switch of the controller is set at a 0-position, the first winding wheel and the second winding wheel are disconnected with the alternating current servo motor, and the overturning platform does not overturn under the action of spring resistance.
Further, steps S1 to S3 include a rotation training method, which is used for simulating rotation in the air.
The beneficial effects are as described above.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic structural diagram of the control platform of the present invention.
FIG. 3 is a front view of the steering control platform and harness module mounting arrangement of the present invention.
FIG. 4 is a front view of another attitude mounting arrangement for the steering control platform and harness modules of the present invention.
Fig. 5 is a schematic view of the telescopic rod structure of the present invention.
Fig. 6 is a schematic view of a hinge assembly mounting structure of the present invention.
Fig. 7 is a detailed structural diagram of a point a in fig. 3.
Fig. 8 is a detailed structural diagram at B in fig. 4.
Reference numerals: 1. support, 2, base, 3, stand, 4, slip umbrella platform, 5, upset platform, 6, rotary mechanism, 61, rotating electrical machines, 62, rotation axis, 63, rotary platform, 7, adjustment mechanism, 71, spring, 72, first rolling wheel, 73, second rolling wheel, 8, telescopic link, 81, upper connecting pipe, 82, lower connecting pipe, 83, articulated subassembly, 831, bulb support, 832, sliding support, 832A, upper support, 832B, lower support, 9, hawser, 91, first rigid connection portion, 92, second rigid connection portion, 93, flexible connection portion, 94, control mechanism, 941, electro-magnet, 942, inhale the piece.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection of the present invention.
The terms "left and right" and "front and back" appearing in the present invention are referred to in fig. 2.
The invention provides a virtual reality-based real sense parachuting simulation trainer, which has the specific technical scheme that: as shown in fig. 1, the simulation parachute jumping system comprises at least one parachute jumping simulation unit and a simulation parachute jumping management platform, wherein the parachute jumping simulation unit comprises a frame, the frame comprises a support 1 located at the upper part, a base 2 located at the bottom, a plurality of upright posts 3 installed between the support 1 and the base 2, and a lifting mechanism, the plurality of upright posts 3 are installed at corners of the base 2, the support 1 is slidably connected with the upright posts 3 through the lifting mechanism, and the frame forms a support main body of the parachute jumping simulation unit and is provided with other components of the parachute jumping simulation unit.
As shown in fig. 1 and 2, the manipulation control platform comprises a parachute sliding platform 4, a turning platform 5, a rotating mechanism 6 and an adjusting mechanism 7, wherein the parachute sliding platform 4 is mounted on the support 1, the upper surface of the turning platform 5 is hinged to the lower surface of the parachute sliding platform 4 through a plurality of telescopic rods 8, the telescopic rods 8 are preferably 4, the turning platform 5 is preferably square, and the 4 telescopic rods 8 are respectively arranged in the middle of the edges of 4 sides of the turning platform 5; as shown in fig. 3, the rotating mechanism 6 includes a rotating motor 61, a rotating shaft 62 and a rotating platform 63, the rotating motor 61 is fixedly connected with the lower surface of the turning platform 5 through a mounting frame (not shown in the figure), a transmission shaft of the rotating motor 61 is fixedly connected with one end of the rotating shaft 62, the other end of the rotating shaft 62 is fixedly connected with the rotating platform 63, the rotating motor 61 drives the rotating platform 63 to freely rotate in a horizontal plane parallel to the turning platform 5 through the rotating shaft 62, and the bottom of the rotating platform 63 is connected with the trainee through a strap module;
as shown in fig. 3 and 4, the adjusting mechanism 7 includes 4 springs 71, a first winding wheel 72, a second winding wheel 73, and a controller (not shown in the drawings), the 4 springs 71 are respectively sleeved outside the 4 telescopic rods 8, two ends of the springs 71 are respectively connected to the parachute platform 4 and the turning platform 5, an elastic force of the springs 71 is greater than or equal to a gravity of the turning platform 5 and the rotating mechanism 6, so as to ensure that the turning platform 5 and the rotating mechanism 6 have a certain resistance and do not move freely, the first winding wheel 72 and the second winding wheel 73 are mounted on the upper surface of the parachute platform 4, mounting directions of the first winding wheel 72 and the second winding wheel 73 are perpendicular to each other, preferably, the first winding wheel 72 is mounted at a position corresponding to the parachute platform 4 and left and right of the turning platform 5, the second winding wheel 73 is mounted at a position corresponding to the parachute platform 4 and front and back of the turning platform 5, and the first winding wheel 72 and the second winding, The second winding wheel 73 is connected with an alternating current servo motor (not shown in the figure) through a controller (not shown in the figure), the controller (not shown in the figure) is used for controlling the connection state of the alternating current servo motor (not shown in the figure) with the first winding wheel 72 and the second winding wheel 73, the alternating current servo motor (not shown in the figure) controls the contraction of the steel wire rope through forward and reverse rotation, and the power of the alternating current servo motor (not shown in the figure) is larger than the sum of the elastic forces of the 4 springs 71.
As shown in fig. 4, in this embodiment, when the ac servo motor (not shown) drives the first winding wheel 72 to rotate forward, the steel cable drives the left or right of the turning platform 5 to rotate upward, the telescopic rod 8 and the spring 71 connected to one side of the steel cable contract, and the telescopic rod 8 and the spring 71 on the other side stretch, when the ac servo motor (not shown) drives the first winding wheel 72 to rotate backward, the turning platform 5 loses the force of the ac servo motor (not shown), the turning platform 5 rotates toward the initial position under the action of the left and right springs 71 and the telescopic rod 8, when returning to the initial position, as shown in fig. 3, due to the inertia, the turning platform 5 continues to rotate until the ac servo motor (not shown) drives the first winding wheel 72 to rotate forward again, and the driving force is greater than the sum of the inertia force and the gravity, repeating the steps to enable the overturning platform 5 to overturn left and right in the horizontal direction; similarly, when an alternating current servo motor (not shown in the figure) drives the second winding wheel 73 to move, the overturning platform 5 is overturned back and forth in the horizontal direction; when an alternating current servo motor (not shown in the figure) drives the first winding wheel 72 and the second winding wheel 73 to move simultaneously, because the steel wire ropes are connected to the adjacent edges of the overturning platform 5, the angle of the overturning platform 5 between the two steel wire ropes moves firstly, so that the overturning platform 5 is obliquely overturned around the diagonal line, in the process, in order to reduce the resistance of the steel wire rope to move, fixed pulleys are arranged on the corresponding edges of the parachute sliding platform 4, and the steel wire ropes are wound with the winding wheels through the corresponding fixed pulleys; in addition, by combining the arrangement of the rotating mechanism 6, various motion simulation environments can be realized, including turning motion, rotating motion and turning and rotating motion.
As shown in fig. 3 and 4, in this embodiment, preferably, the controller (not shown in the figure) includes a switch (not shown in the figure), when the switch (not shown in the figure) is in the 0-position, the first winding wheel 72 and the second winding wheel 73 are disconnected from the ac servo motor (not shown in the figure), the first winding wheel 72 and the second winding wheel 73 are not operated, and at this time, the turning platform 5 is in a state parallel to the parachute platform 4 under the damping action of the spring 71 and the telescopic rod 8; when a change-over switch (not shown in the figure) is in a 1-gear position, the first winding wheel 72 is in transmission connection with an alternating current servo motor (not shown in the figure), the second winding wheel 73 is in transmission connection with the alternating current servo motor (not shown in the figure), only the first winding wheel 72 works, and at the moment, the overturning platform 5 is in a left-right overturning state; when a change-over switch (not shown in the figure) is in a 2-position, the second winding wheel 73 is in transmission connection with an alternating current servo motor (not shown in the figure), the first winding wheel 72 is in transmission connection with the alternating current servo motor (not shown in the figure), only the second winding wheel 73 works, and at the moment, the overturning platform 5 is in a front-back overturning state; when a change-over switch (not shown in the figure) is in a 3-gear position, the first winding wheel 72 and the second winding wheel 73 are in transmission connection with an alternating current servo motor (not shown in the figure), the first winding wheel 72 and the second winding wheel 73 work synchronously, the overturning platform 5 is in an inclined overturning state at the moment, and the environment encountering strong wind or other dangerous scenes can be effectively simulated through selection of different states.
As shown in fig. 2, in this embodiment, it is preferable that the first winding wheel 72 and the second winding wheel 73 have the same size, and the adjacent sides of the turning platform 5 have the same length, so as to ensure that the adjacent sides of the turning platform 5 move simultaneously when the first winding wheel 72 and the second winding wheel 73 operate synchronously, and the turning angle of the turning platform 5 is the same when the first winding wheel 72 or the second winding wheel 73 operates alone.
As shown in fig. 2 and 5, in this embodiment, preferably, the telescopic rod 8 includes an upper connecting pipe 81 fixedly connected to the lower surface of the parachute sliding platform 4, a lower connecting pipe 82 slidably sleeved with the upper connecting pipe 81, and a hinge assembly 83 connected to the upper surface of the turning platform 5, and a damper is disposed at a sleeved position of the upper connecting pipe 81 and the lower connecting pipe 82. Through the setting of the telescopic rod 8 with the damper, the overturning platform 5 can be ensured to be in a certain state when the first winding wheel 72 and the second winding wheel 73 do not work, and further the state change due to the self gravity can not be ensured.
As shown in fig. 6, in this embodiment, preferably, the hinge assembly 83 includes a ball bearing 831 connected to the tilting platform 5 and a sliding bearing 832 connected to the lower connecting pipe 82, an unsealed ball-shaped space is formed inside the sliding bearing 832, a ball head of the ball bearing 831 is mounted in the ball-shaped space, the sliding bearing 832 includes an upper bearing 832A and a lower bearing 832B in threaded connection with the upper bearing 832A, the upper bearing 832A is connected to the lower connecting pipe 82, the lower bearing 832B is attached to the ball head of the ball bearing 831, a top surface of the lower bearing 832B is higher than a center of the ball head, a bottom surface of the lower bearing 832B is lower than the center of the ball head, and the ball bearing 831 and the sliding bearing 832 can rotate freely. According to the invention, the rotation of the overturning platform 5 relative to the umbrella sliding platform 4 in any direction angle can be realized through the arrangement of the ball head support 831 and the sliding support 832, and in addition, through the arrangement of the positions of the upper support 832A, the lower support 832B and the lower support 832B, the ball head support 831 and the sliding support 832 can be ensured not to be separated during the rotation, and the safety is ensured.
The invention also provides a use method of the virtual reality-based realistic parachuting simulation trainer, as shown in fig. 1 to 6, the use method comprises a turning simulation exercise training method, the turning simulation exercise training method is used for simulating turning movement in the air, and the method specifically comprises the following steps:
s1, left-right or front-back overturning motion: when a change-over switch of the controller is set to 1 gear or 2 gear, the first winding wheel 72 or the second winding wheel 73 is in transmission connection with the alternating-current servo motor, the alternating-current servo motor intermittently rotates forwards and backwards to control the first winding wheel 72 or the second winding wheel 73 to wind or release the steel wire rope, and the overturning platform 5 overcomes the resistance of the spring 71 or overturns under the elastic force of the spring 71;
s2, oblique and turnover movement: when a change-over switch of the controller is set at a 3-gear position, the first winding wheel 72 and the second winding wheel 73 are in transmission connection with the alternating-current servo motor, the alternating-current servo motor intermittently rotates forwards and backwards to control the first winding wheel 72 and the second winding wheel 73 to wind or release the steel wire rope, and the overturning platform 5 overcomes the resistance of the spring 71 or overturns under the elastic force of the spring 71;
s3, when the change-over switch of the controller is set to the 0-position, the first winding wheel 72 and the second winding wheel 73 are disconnected with the alternating current servo motor, and the overturning platform 5 does not overturn under the resistance of the spring 71.
As shown in fig. 1 to 6, in this embodiment, steps S1 to S3 further include a rotation training method for simulating an aerial rotation, and in summary, the present invention can simulate a left-right turning motion, a front-back turning motion, a tilt turning motion, a left-right turning simultaneous rotation motion, a front-back turning simultaneous rotation motion, a tilt turning simultaneous rotation motion, and a rotation motion.
As shown in fig. 3 and 4, in the present embodiment, the harness module is partially connected to the rotating platform 63 of the rotating mechanism 6, partially inserted into the trainee, and used to suspend the trainee in the air, and on the other hand, the trainee can be trained to operate different umbrella types by using the corresponding pull ring on the harness system. In order to adapt to different parachute jumping devices and reduce equipment expenditure, the harness module is modified on the basis of a real parachute harness system, so that the harness module is compatible with simulation training requirements of various umbrella types.
As shown in fig. 3, 4, 7 and 8, in the present embodiment, the modification specifically includes modifying the cable 9 connected to the trainee, the cable 9 is divided into a first connecting portion rigidly connected to the rotating mechanism 6, a second rigid connecting portion 92 connected to the trainee, a flexible connecting portion 93 connecting the first rigid connecting portion 91 and the second rigid connecting portion 92, and a control mechanism 94, the flexible connecting portion 93 enables the first rigid connecting portion 91 and the second rigid connecting portion 92 to move freely, the flexible connecting portion 93 can be a steel wire rope or a nylon rope or the like, and the control mechanism 94 can control the relative movement of the first rigid connecting portion 91 and the second rigid connecting portion 92; when the control mechanism 94 is operated, the relative positions of the first rigid connecting part 91 and the second rigid connecting part 92 are fixed and can not move freely, and the trainee is rigidly connected with the rotating mechanism 6 through the first rigid connecting part 91 and the second rigid connecting part 92; when the control mechanism 94 does not work, the trainee can flexibly connect with the rotating mechanism 6 through the first rigid connecting part 91, the second rigid connecting part 92 and the flexible connecting part 93, through the improvement of the cable 9, the trainee and the overturning platform 5 can realize synchronous overturning motion, the posture of the trainee in the air can be effectively changed, the posture can be specifically vertical, and the inclined direction with a certain inclined angle with the ground can be formed, so that the problem that the process of inclined motion of the trainee and the ground before falling to the ground can not be simulated in the prior art is solved, and the training effect is improved. Particularly, in order to ensure that the inclined posture of the trainee can be kept for a period of time in the simulation process, the forward and reverse rotation time of the alternating current servo motor can be controlled.
As shown in fig. 7 and 8, in the present embodiment, preferably, the control mechanism 94 includes an electromagnet 941, a suction block 942, a control switch and a control circuit for connecting the electromagnet 941 and the control switch, the electromagnet 941 is mounted on the first rigid connecting portion 91, the suction block 942 is mounted on the second rigid connecting portion 92, and the electromagnet 941 and the suction block 942 are opposite to each other, and the control switch is used for controlling the magnetism of the electromagnet 941; as shown in fig. 8, when the control switch is closed, the control circuit is connected, and the electromagnet 941 has magnetism and is firmly attracted to the attraction block 942, so that the first rigid connection portion 91 and the second rigid connection portion 92 form a whole; as shown in fig. 7, when the control switch is turned off, the electromagnet 941 loses its magnetic property and is separated from the attraction block 942, and the first rigid connection portion 91 and the second rigid connection portion 92 are integrated by the flexible connection portion 93.
As shown in fig. 1, the other components include an off-board platform, a waist pull cord, a steering module, a helmet module, an air supply device, and a landing simulation conveyor; the automatic lifting device comprises a lifting device, an automatic lifting platform and a lifting device, wherein the lifting device is arranged on the base 2 and can move up and down. Therefore, when the parachute is started, the trainee stands on the off-board platform, and the off-board action training can be carried out. After the parachute jumping, the control platform is operated to drive the trainee to move forwards and downwards for a section of stroke respectively, and motion body feeling is really created. Simultaneously, the platform that leaves the aircraft descends back initial position fast, prevents that trainee foot and shank from touching and influencing training experience. The departure platform is raised and lowered by a retractable support frame positioned at the lower part.
One end of the waist pull rope is tied behind the waist of the trainee, the other end of the waist pull rope passes through the back bearing pulley to be connected with the motor, the waist of the human body can be pulled up or put down through the motor and the back bearing pulley, and the back bearing pulley is fixedly arranged on the bracket 1. The waist pull rope has the effects that firstly, when a trainee parachutes and leaves the machine, the waist of the trainee is properly pulled up by the waist pull rope, and a more real parachuting and leaving posture is simulated; secondly, when the umbrella is opened, the control platform is matched, when the control platform pulls the trainee upwards for a small stroke, the waist pull rope is completely released, and the trainee is provided with a sense of pulling upwards during the umbrella opening.
The control module is used for the trainee to realize various control actions on the parachute in the parachute landing simulator, so that the motion state of the parachute-human combination in the virtual environment is changed. In particular, the steering module comprises a steering band and 2 to 4 steering rods, which are connected to the control assembly. The parachute can generate the motions of rotation, forward, backward, accelerated descending and left-right or front-back overturning through the control rod, the parachute can rapidly laterally move through the control belt, and meanwhile the parachute can also generate the motion of accelerated descending.
The helmet module is worn on the head of the trainee and comprises virtual reality glasses, and continuous and dynamic large-visual-angle three-dimensional parachute environment display is provided for the trainee through VR technology. Therefore, the helmet module is a key device for the vision simulation of the parachuting training.
Air supply arrangement, include below air supply arrangement and encircle air supply arrangement, below air supply arrangement installs on base 2, encircle air supply arrangement and install on support 1, air supply arrangement is used for simulating the vertical direction wind and the side direction wind of parachuting in-process.
The landing simulation conveyor belt is arranged on the base 2 and used for adjusting the conveyor belt to a corresponding rotating speed according to the motion parameters in the virtual environment, and the control platform is controlled to drive the trainee to move in the vertical and horizontal directions, so that the real landing feeling is simulated. The landing simulation carousel may be a set of devices similar to the runway of a treadmill. Different umbrella types have different landing actions, and the landing simulation conveyor belt is utilized to truly simulate the impact feeling during parachute jumping and landing on one hand, and on the other hand, different landing action training can be carried out on trainees aiming at different umbrella types.
The simulation parachute jumping management platform is used for setting a training project for the parachute jumping simulation unit, receiving various operation data of the simulator, and controlling the parachute jumping simulation unit to simulate the whole parachute jumping process, and specifically comprises the following steps:
and the training control module is used for setting initial conditions and special parachuting conditions of training, monitoring training processes and real-time states of the parachuting simulation units and carrying out voice command on the parachuting simulation units.
And the motion process simulation module is used for calculating and simulating the whole process motion conditions of the paratrooper such as out-of-cabin jumping, free falling, parachute opening, aerial motion, aerial special situations and landing in a three-dimensional space according to the aerodynamic model and environmental factors including atmosphere, terrain and/or landform and the control data of the parachuting trainer.
The parachute jumping field scene generating module is used for generating various elements of a landing field in the parachute jumping field, including T-shaped cloth, arrow cloth, a wind direction bag, a parachute folding station, an ambulance station, a meteorological station, a broadcasting station and/or a command post. Particularly, the night marks are displayed by light, the snow scene marks are displayed in different colors in a distinguishing mode, and the water scene marks are displayed on various security boats.
And the visual display calculation module is used for calculating the visual display effect of the parachuting field and the visual display effect of the trainee according to the calculation results of the motion process simulation module and the parachuting field scene generation module, and pushing the visual display effects to the helmet module, the display screen and the like for display. The visual display calculation module can adopt real-time three-dimensional rendering to dynamically render the whole environment of parachute jumping training and the operation of training personnel and parachutes in real time.
The motion sensing construction generation module is used for generating motion sensing construction parameters according to the motion process simulation module so as to control the operation of motion sensing equipment in the parachute jumping simulation unit, and the motion sensing equipment comprises a control platform, a landing simulation conveyor belt, an air supply device, sound effect equipment and the like. Thus, wind power, sound and the like can be produced, and physical feelings similar to actual parachute jumping, including motion feeling, wind power feeling and sound feeling, can be created.
Motion body feeling: the real parachute harness system is improved, and the parachute harness system is provided with four parachute operating belts, 2-4 parachute operating rods, emergency hand pull rings of two umbrella types, a parachute handle and a backup parachute hand pull ring; the trainee can be driven to rotate and turn back and forth, up and down, incline and the like by operating the control platform; the body posture of the trainee before and after the umbrella is opened is controlled by the waist pull rope; performing off-line action training on the trainee through an off-line platform; through the landing simulation conveyer belt, the impact sense when parachuting lands is truly simulated on the one hand, and on the other hand, different landing action training can be carried out on trainees aiming at different umbrella shapes.
Wind power body feeling: vertical wind and lateral wind in the parachute descending process are simulated through the lower air supply device and the surrounding air supply device. And the generated virtual visual scene is combined to provide the skin tactile sensation of the parachutist during the air movement, and the wind direction and the wind speed are correspondingly changed along with the change of the movement direction and the movement speed.
Sound body feeling: the system provides auditory feeling of environmental sound, simulates the running noise of an airplane, the air noise of high-speed falling of a parachutist, ground environmental sound and the like, and also provides air and ground command voice and system prompt voice.
In addition, the system also comprises a training management and evaluation module which is used for making a parachuting training plan, carrying out automatic or manual evaluation according to the process of simulating parachuting, and outputting, storing or calling corresponding training data.
The automatic scoring is that the system collects real-time data and simulation data of simulation training and compares the real-time data and the simulation data with a threshold value to score. The manual scoring is a comprehensive scoring performed in combination with the observation of the instructor or the playback of the image data recorded by the training recording camera.
Specifically, the training management and evaluation module can analyze and judge the operation state of the trainee to evaluate the training effect. For example, the module can determine whether the trainee keeps a sufficient distance from other virtual parachutists, whether the trainee is facing the wind direction during landing, whether the control is timely and accurate in the whole falling process, whether the handling of special situations is correct and correct, and the like according to the data.
The parachuting simulation trainer of the invention sets virtual training environment parameters through a training control module, generates corresponding scenes of a parachuting landing field through a parachuting field scene generation module, and then constructs a virtual environment by utilizing a visual display calculation module, wherein the virtual environment comprises a space environment, a meteorological environment and other virtual parachutists, a trainee sends out a control instruction by operating an operation module, and the control instruction is loaded on a dynamic model of an umbrella-human system, so that the dynamic model generates movement similar to the actual situation in the set virtual space.
As shown in fig. 1, a parachuting status warning light (not shown) is provided on the support 1 for indicating the working status of the parachuting simulation unit, for example, the parachuting simulation unit may be a red status light and a green status light, and the color is controlled by the simulated parachuting management platform. The parachuting simulation unit lights a green light under a normal working state; and the red light is lightened under the abnormal working state.
The frame 1 may further have a large display screen (not shown), which may be installed at the front of the frame 1 for synchronously observing the training situation of the trainee, and may use a first person viewing angle, a third person viewing angle, a ground viewing angle and/or a free viewing angle, etc., which may be displayed separately or simultaneously.
An emergency stop button is also provided on the frame for allowing an instructor or a protective person to quickly halt the training process in case of an emergency during the training process.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A virtual reality-based realistic parachute landing simulation trainer comprises at least one parachute jumping simulation unit and a simulated parachute jumping management platform, wherein the parachute jumping simulation unit comprises a frame and a control platform, the frame comprises a support (1) positioned at the upper part, a base (2) positioned at the bottom and a plurality of stand columns (3) arranged between the support (1) and the base (2);
the parachute jumping simulation unit further comprises an off-plane platform, a waist pull rope, a control module, a helmet module, an air supply device and a landing simulation conveyor belt; the simulation parachute jumping management platform is used for setting training items for the parachute jumping simulation unit, receiving various operation data of the simulator and controlling the parachute jumping simulation unit to simulate the whole parachute jumping process;
the control system is characterized in that the control platform comprises a parachute sliding platform (4), a turnover platform (5) and a rotating mechanism (4), the parachute sliding platform (4) is installed on the support (1), the upper surface of the turnover platform (5) is hinged to the lower surface of the parachute sliding platform (4) through a plurality of telescopic rods (8), the lower surface of the turnover platform (5) is rotatably connected with the rotating mechanism (4), and the rotating mechanism (6) is connected with a trainee through a strap module;
the control platform further comprises an adjusting mechanism (7), the adjusting mechanism (7) comprises a plurality of springs (71), a first winding wheel (72), a second winding wheel (73) and a controller, the springs (71) correspond to the telescopic rods (8) one by one, the springs (71) are sleeved outside the telescopic rods (8), two ends of the springs (71) are connected with the sliding umbrella platform (4) and the overturning platform (5) respectively, the first winding wheel (72) and the second winding wheel (73) are installed on the upper surface of the sliding umbrella platform (4), one ends of steel wire ropes are wound on the first winding wheel (72) and the second winding wheel (73), the other ends of the steel wire ropes are connected with adjacent edges of the overturning platform (5) respectively, and the first winding wheel (72) and the second winding wheel (73) are connected with an alternating current servo motor through the controller.
2. The virtual reality-based realistic parachute landing simulation trainer according to claim 1, wherein the controller comprises a change-over switch, the change-over switch is provided with four gears of 0, 1, 2 and 3, and when the change-over switch is in the gear 0, the first winding wheel (72) and the second winding wheel (73) are not in operation; when the change-over switch is in a 1 gear, only the first winding wheel (72) works; when the change-over switch is in a 2-gear position, only the second winding wheel (73) works; when the change-over switch is in a 3-gear position, the first winding wheel (72) and the second winding wheel (73) work synchronously.
3. The virtual reality-based realistic parachute landing simulation trainer according to claim 1, wherein the first winding wheel (72) and the second winding wheel (73) are equal in size and equal in length from the adjacent edge of the overturning platform (5).
4. The virtual reality-based realistic parachute landing simulation trainer according to any one of claims 1 to 3, wherein the telescopic rod (8) comprises an upper connecting pipe (81) fixedly connected with the lower surface of the parachute sliding platform (4), a lower connecting pipe (82) slidably sleeved with the upper connecting pipe (81), and a hinge assembly (83) connected with the upper surface of the turnover platform (5).
5. The virtual reality based realistic parachute landing simulation trainer according to claim 4, wherein the hinge assembly (62) comprises a ball support (831) connected with the overturning platform (5) and a sliding support (832) connected with the lower connecting pipe (82), an unsealed spherical space is formed inside the sliding support (832), a ball of the ball support (831) is installed in the spherical space, and the ball support (831) and the sliding support (832) can rotate freely.
6. The virtual reality-based realistic umbrella descent simulation trainer according to claim 5, wherein the sliding support (832) comprises an upper support (832A) and a lower support (832B) in threaded connection with the upper support (832A), the upper support (832A) is connected with the lower connecting pipe (82), the lower support (832B) is attached to a ball head of the ball head support (831), the top surface of the lower support (832B) is higher than the center of the ball head, and the bottom surface of the lower support (832B) is lower than the center of the ball head.
7. The virtual reality-based realistic parachute landing simulation trainer according to the claim 1, characterized in that the off-board platform is arranged on the base (2) and can perform ascending and descending motions; the waist pull rope is tied behind the waist of the trainee; the control module is used for the trainee to realize various control actions on the parachute in the parachute landing simulator; the helmet module is worn on the head of a trainee and comprises virtual reality glasses, and continuous and dynamic large-visual-angle three-dimensional parachute landing environment display is provided for the trainee; the air supply device comprises a lower air supply device and a surrounding air supply device, the lower air supply device is arranged on the base (2), and the surrounding air supply device is arranged on the bracket (1); the landing simulation conveyor belt is arranged on the base (2).
8. The virtual reality-based realistic parachute landing simulation trainer according to claim 1, wherein the simulated parachuting management platform comprises a training control module for setting initial conditions of training, special conditions of parachuting, monitoring training processes and real-time states of each parachuting simulation unit, and conducting voice command on each simulated training unit; the motion process simulation module is used for calculating and simulating the whole process motion condition of the parachute jumping in a three-dimensional space according to the aerodynamic model and environmental factors, wherein the environmental factors comprise atmosphere, terrain and/or landform and are combined with the manipulation data of the parachute jumping trainer; the parachute jumping field scene generating module is used for generating various elements of a landing field in the parachute jumping field; the visual display calculation module is used for calculating the visual display effect of the parachuting field and the visual display effect of the trainee according to the calculation results of the motion process simulation module and the parachuting field scene generation module, and pushing the visual display effects to the helmet module and the display screen for displaying; the motion sensing construction generation module is used for generating motion sensing construction parameters according to the motion process simulation module so as to control the operation of the motion sensing equipment in the parachute jumping simulation unit, and the motion sensing equipment comprises a control platform, a landing simulation conveyor belt, an air supply device and an effect device.
9. A use method of a virtual reality-based realistic parachuting simulation trainer is characterized by comprising a turning simulation exercise training method, wherein the turning simulation exercise training method is used for simulating turning exercise in the air, and specifically comprises the following steps:
s1, left-right or front-back overturning motion: when a change-over switch of the controller is arranged at a 1-gear position or a 2-gear position, a first winding wheel (72) or a second winding wheel (73) is in transmission connection with an alternating current servo motor, the alternating current servo motor intermittently rotates forward and backward to control the first winding wheel (72) or the second winding wheel (73) to wind or release a steel wire rope, and a turnover platform (5) overcomes the resistance of a spring (71) or overturns under the elastic force action of the spring (71);
s2, oblique and turnover movement: when a change-over switch of the controller is set at a 3-gear position, a first winding wheel (72) and a second winding wheel (73) are in transmission connection with an alternating current servo motor, the alternating current servo motor intermittently rotates forwards and backwards to control the first winding wheel (72) and the second winding wheel (73) to wind or release the steel wire rope, and a turnover platform (5) overcomes the resistance of a spring (71) or overturns under the elastic force of the spring (71);
s3, when a change-over switch of the controller is set to a 0-position, the first winding wheel (72) and the second winding wheel (73) are disconnected with the alternating current servo motor, and the overturning platform (5) does not overturn under the resistance action of the spring (71).
10. The use method of the virtual reality-based realistic parachuting simulation trainer according to claim 9, wherein the steps S1 to S3 further comprise a rotation training method, wherein the rotation training method is used for simulating rotation in the air.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011602363.4A CN112562446B (en) | 2020-12-30 | 2020-12-30 | Real sense parachuting simulation training ware based on virtual reality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011602363.4A CN112562446B (en) | 2020-12-30 | 2020-12-30 | Real sense parachuting simulation training ware based on virtual reality |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112562446A true CN112562446A (en) | 2021-03-26 |
| CN112562446B CN112562446B (en) | 2022-11-18 |
Family
ID=75032964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011602363.4A Active CN112562446B (en) | 2020-12-30 | 2020-12-30 | Real sense parachuting simulation training ware based on virtual reality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112562446B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371206A (en) * | 2021-07-01 | 2021-09-10 | 深圳威阿科技有限公司 | Parachuting simulation training wind direction control method and system |
| CN113539003A (en) * | 2021-07-28 | 2021-10-22 | 中国人民解放军空军航空大学 | Virtual reality water parachute jumping simulation training implementation method and device |
| CN113674575A (en) * | 2021-07-12 | 2021-11-19 | 淮阴工学院 | Virtual reality parachute jumping simulation training somatosensory control device and method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08182788A (en) * | 1994-12-28 | 1996-07-16 | Ishikawajima Harima Heavy Ind Co Ltd | Skidiving and parachuting training simulator |
| US20030113695A1 (en) * | 2001-03-22 | 2003-06-19 | Lee Sung Taee | Skydiving simulator and skydiving training process using the same |
| KR101546408B1 (en) * | 2014-03-28 | 2015-08-21 | 김형섭 | Using one trillion kinds parachute parachute simulator |
| CN107424463A (en) * | 2017-06-16 | 2017-12-01 | 北京航宇荣康科技股份有限公司 | One kind parachute jumping simulation training system and parachute jumping simulated training method |
| CN107492279A (en) * | 2017-08-29 | 2017-12-19 | 北京华如科技股份有限公司 | Parachuting simulator |
| CN107600437A (en) * | 2017-10-31 | 2018-01-19 | 航天科工系统仿真科技（北京）有限公司 | A kind of VR parachuting trainings simulator |
| KR20180043645A (en) * | 2016-10-20 | 2018-04-30 | 주식회사 에이스카이 | Parachute Descent Training Simulation Apparatus and Method of The Same |
| CN108053712A (en) * | 2018-01-18 | 2018-05-18 | 航天科工系统仿真科技（北京）有限公司 | A kind of paratrooper's parachuting training simulator and its method |
| CN108428399A (en) * | 2017-09-30 | 2018-08-21 | 于君泽 | Interaction parachute jumping simulation system |
| CN110782732A (en) * | 2019-11-11 | 2020-02-11 | 北京华如科技股份有限公司 | Parachute landing simulator for parachute landing simulation training |
-
2020
- 2020-12-30 CN CN202011602363.4A patent/CN112562446B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08182788A (en) * | 1994-12-28 | 1996-07-16 | Ishikawajima Harima Heavy Ind Co Ltd | Skidiving and parachuting training simulator |
| US20030113695A1 (en) * | 2001-03-22 | 2003-06-19 | Lee Sung Taee | Skydiving simulator and skydiving training process using the same |
| KR101546408B1 (en) * | 2014-03-28 | 2015-08-21 | 김형섭 | Using one trillion kinds parachute parachute simulator |
| KR20180043645A (en) * | 2016-10-20 | 2018-04-30 | 주식회사 에이스카이 | Parachute Descent Training Simulation Apparatus and Method of The Same |
| CN107424463A (en) * | 2017-06-16 | 2017-12-01 | 北京航宇荣康科技股份有限公司 | One kind parachute jumping simulation training system and parachute jumping simulated training method |
| CN107492279A (en) * | 2017-08-29 | 2017-12-19 | 北京华如科技股份有限公司 | Parachuting simulator |
| CN108428399A (en) * | 2017-09-30 | 2018-08-21 | 于君泽 | Interaction parachute jumping simulation system |
| CN107600437A (en) * | 2017-10-31 | 2018-01-19 | 航天科工系统仿真科技（北京）有限公司 | A kind of VR parachuting trainings simulator |
| CN108053712A (en) * | 2018-01-18 | 2018-05-18 | 航天科工系统仿真科技（北京）有限公司 | A kind of paratrooper's parachuting training simulator and its method |
| CN110782732A (en) * | 2019-11-11 | 2020-02-11 | 北京华如科技股份有限公司 | Parachute landing simulator for parachute landing simulation training |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371206A (en) * | 2021-07-01 | 2021-09-10 | 深圳威阿科技有限公司 | Parachuting simulation training wind direction control method and system |
| CN113371206B (en) * | 2021-07-01 | 2022-05-20 | 深圳威阿科技有限公司 | Parachuting simulation training wind direction control method and system |
| CN113674575A (en) * | 2021-07-12 | 2021-11-19 | 淮阴工学院 | Virtual reality parachute jumping simulation training somatosensory control device and method |
| CN113539003A (en) * | 2021-07-28 | 2021-10-22 | 中国人民解放军空军航空大学 | Virtual reality water parachute jumping simulation training implementation method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112562446B (en) | 2022-11-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112562446B (en) | Real sense parachuting simulation training ware based on virtual reality | |
| CN107492279B (en) | Parachuting simulator | |
| CN110782732B (en) | Parachute landing simulator for parachute landing simulation training | |
| KR101230192B1 (en) | A Parachute Descent Training Simulation System and Method of The Same | |
| KR101089041B1 (en) | Mobile parachute training simulator and method of the same | |
| KR101212445B1 (en) | Simulator apparatus for skydive virtual training and virtual reality experience | |
| CN108053712B (en) | Parachuting training simulator and parachuting training method | |
| CA2212288C (en) | Improved flight simulator | |
| KR20160113491A (en) | Motion platform system | |
| WO2019184041A1 (en) | Extraction parachute type ejection seat simulator for experiencing escape from manned aircraft | |
| KR101546408B1 (en) | Using one trillion kinds parachute parachute simulator | |
| KR20190072747A (en) | Simulator system for emergency escape training of pilot by using parachute | |
| CN107424463A (en) | One kind parachute jumping simulation training system and parachute jumping simulated training method | |
| RU2713681C1 (en) | Simulator for training parachute jumping (versions) | |
| CN215932896U (en) | Parachute landing simulation training device for parachute landing training | |
| CN111223346B (en) | Parachute jumping simulation cabin of parachute jumping equipment | |
| CN107600437A (en) | A kind of VR parachuting trainings simulator | |
| CN111354240A (en) | Ejection and/or parachute jumping life-saving training method based on VR | |
| CN112133151A (en) | High-fidelity near-reality immersion type panoramic parachute jumping simulator | |
| CN207956074U (en) | A kind of VR parachuting trainings simulator | |
| TWI404653B (en) | System and method of parachuting simulation | |
| CN214279236U (en) | Parachuting simulation training device | |
| CN208580518U (en) | Ejection training simulator based on VR | |
| CN206363575U (en) | A kind of paragliding VR simulators | |
| CN112498703B (en) | Motion device based on real sense parachuting simulation trainer and use method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |