CN1156807C - Analog flight training equipment for manipulator of robot helicopter - Google Patents
Analog flight training equipment for manipulator of robot helicopter Download PDFInfo
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- CN1156807C CN1156807C CNB011445904A CN01144590A CN1156807C CN 1156807 C CN1156807 C CN 1156807C CN B011445904 A CNB011445904 A CN B011445904A CN 01144590 A CN01144590 A CN 01144590A CN 1156807 C CN1156807 C CN 1156807C
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Abstract
The present invention relates to an analog flight training device for manipulators of robot helicopters, which comprises a projective large screen, displays, a host machine, a flight control station, a monitor, an operating device and a walkaround stereo sound box, wherein the flight control station 7 is installed on the right front part of seats 12 of training manipulators; three displays are respectively installed on the front part of the flight control station 7; the right forward and upward part of the seats 12 of training manipulators is provided with the projective large screen 3; the left side of the seats 12 of training manipulators is provided with a collective pitch lever 16, an operating lever 11 and a left-hand pedal 17, and a right-hand pedal 10 is installed between the front side of the seats 12 of training manipulators and the flight control station 7. The present invention greatly reduces training cost and adopts virtual reality technology and a large amount of real airplane data; the fidelity of images is reinforced with stereo imaging technique of the binoculus effects, and operators have the sensation of personally staying at the site.
Description
Technical field
The present invention relates to a kind of flight training device, particularly relate to a kind of device that the pilotless helicopter operator carries out synthetic flight training that is used for.
Background technology
The driver that disembarks observes by telemetering and remote control system and the driver of control depopulated helicopter pilotless helicopter on the ground.The offline mode of pilotless helicopter can be divided into two kinds, and a kind of is purely by the driver's remote control distributor of disembarking, and another kind is an autonomous flight, and the driver that disembarks monitors flight course, and in time changes remote control distributor over to when autonomous flight can't be finished.Driver's manipulation technology and experience are directly connected to the success or failure of aerial mission so disembark, and therefore training the driver's technical ability of disembarking also is an important ring of development pilotless helicopter.Most of manned aircraft all has supporting pilot's simulation trainer, will reduce training flight person's cost greatly like this, reduces training flight person's danger greatly, and training effect is highly significant also.Therefore in order to reduce training pilotless helicopter driver's cost, we have developed the pilotless helicopter driver's simulated training system of disembarking.This system has made full use of advanced virtual reality technology, has strengthened the fidelity of virtual training scene on the basis of setting up the depopulated helicopter motion mathematical model in conjunction with multimedia technology.Aspect image, adopt the binocular stereoscopic imaging technique to strengthen stereoscopic sensation, aspect sound, adopted 5.1 sound channel ambiophonic systems to strengthen telepresenc.
Summary of the invention
The device that the purpose of this invention is to provide a kind of synthetic flight training.
The object of the present invention is achieved like this: a kind ofly be used for the device that the pilotless helicopter operator carries out synthetic flight training, it comprises projective large-screen, display, main frame, flight control platform, monitor, operating rod, collective-pitch lever, left-hand tread plate, right-hand tread plate, surround sound audio amplifier.After being connected in series respectively, the surround sound audio amplifier is connected on the host B 19, projective large-screen 3, display A 4, one end of flight control platform 7 is connected on the host B 19, display D 20, display B 6, the other end of flight control platform 7 is connected on the host A 8, display C 18, collective-pitch lever 16, operating rod 11, left-hand tread plate 17, right-hand tread plate 10, monitor 9 is connected on the flight control platform 7, flight control platform 7 is installed in the dead ahead at training operator seat 12, display D 20, display A 4 and display B 6 are installed in the front of flight control platform 7 respectively, the positive front upper place at training operator seat 12 is equipped with projective large-screen 3, the left side at training operator seat 12 is equipped with collective-pitch lever 16, operating rod 11 and left-hand tread plate 17, right-hand tread plate 10 be installed in training 12 fronts, operator seat and flight control platform 7 between; Display C 18 on the flight control platform 7, whether be used for the checked operation keyboard correct; The surround sound audio amplifier is made up of preceding right voice box 5, preceding middle audio amplifier 2, preceding left voice box 1, back left voice box 15, woofer 14 and back right voice box 13, be installed in the training control cabin around, the surround sound audio amplifier is used for providing audio alert prompting and corrective manipulated flight to handling the trainer; Operating rod 11 in the maneuvering device is control aircraft flight attitude, and collective-pitch lever 16 is to control total distance and throttle, and left-hand tread plate 17 control aircrafts fly left, and right-hand tread plate 10 control aircrafts fly to the right; The comprehensive parameters instrument is translucent, and the parameter of demonstration has: highly, rising or falling speed, forward flight speed, the course, the angle of pitch, the pitch angle, total apart from value, the throttle value, engine speed, gyroplane rotate speed, environment temperature, state of flight is judged.
The landform situation of Cai Jiing has in the present invention: plains region, knob, area, mountain range, urban area, landform forms the landform altitude data by 50 meters interval measurement sea level elevations.
The weather conditions of Cai Jiing in the present invention have: ceiling unlimited, sunny cloudy, the cloudy day is cloudy, light rain is continuous, foggy weather.
The time situation of Cai Jiing has in the present invention: dawn, high noon, at dusk, the late into the night.
The process of in the present invention flight training comprises: pre-takeoff check → input navigational parameter → pilot engine → with 3000 rev/mins of warming ups of rotating speed → enter stabilization of speed → 30 meters height that hover and check whether commanding apparatus normal at overhead 2 meters of distance takeoff point → rise to → arrange required flying height, speed and entry altitude, velocity-stabilization → enter independent navigation → monitoring autonomous flight make a return voyage to preparing to land → send instruction monitoring aircraft make a return voyage situation → arrange behind the assigned address 100 meters → aircraft of flying height fall high remove after to 100 meters the highly stable remote control of velocity-stabilization → releasings disappear prompt drop height → adjustments aircraft position to the landing field overhead 2 meters hover → soft high landing the → remove stabilization of speed → reduction rotating speed to the 3000 rev/min cooled engine → cylinder temperature of falling is lower than 120 and spends rear reduction rotating speed to 2000 rev/min → kill engine → the flight training end.
In the present invention, the landform on the spot that the inventor adopts is: with the landform altitude data of landform by 50 meters interval measurement sea level elevations formation, take photo by plane the photograph on the face of land as terrain texture figure, landform altitude data and terrain texture figure are deposited in the computing machine as remote real-time monitoring software, form three-dimensional electronic landform true to nature.
Flight attitude is a 3-D display, read telemetry, draw the 3 dimensional drawing of depopulated helicopter according to the telemetry and the driver's that disembarks viewing angle, show the flight attitude that depopulated helicopter is current visually, approach the effect that the driver that disembarks sees real helicopter.
View mode is:
The a title: ground, observe the fixed-direction level altitude
Meaning: the observer is positioned at ground, watches fixing direction and height attentively, and sight line is not followed the variation of helicopter position and changed.
The b title: ground, observe the fixed-direction aircraft altitude
Meaning: the observer is positioned at ground, watches fixing direction attentively, but the height of watching attentively follows the variation of helicopter height and change, and is equivalent to the observer and can looks up helicopter.
The c title: ground, observe aircraft direction aircraft altitude
Meaning: the observer is positioned at ground, and sight line is followed the change in location of helicopter fully and changed, and is equivalent to the observer and keeps a close watch on helicopter forever.
The d title: high together with aircraft, observe fixed-direction
Meaning: observer's height changes along with the helicopter height change, but the fixed angle of observing, and is equivalent to observe fixed-direction on the aircraft that the observer is sitting in another equal height.
The e title: high together with aircraft, observe the aircraft direction
Meaning: observer's height changes along with the helicopter height change, and the angle of observation changes with the variation of helicopter position, is equivalent to observation helicopter on the aircraft that the observer is sitting in another equal height.
F title:, observe fixed-direction with the aircraft coordination
Meaning: observer's position changes along with the variation of helicopter position, but the fixed angle of observing, and is equivalent to the observer and is sitting on another aircraft of following this helicopter and observes fixed-direction.
G title:, observe the aircraft direction with the aircraft coordination
Meaning: observer's position changes along with the variation of helicopter position, and the angle of observation changes with the variation of helicopter position, is equivalent to the observer and is sitting in observation helicopter on another aircraft of following this helicopter.
H title: in aircraft cabin, observe outdoor scene
Meaning: the observer is sitting in the helicopter cabin, outwards observes by cabin glass, is equivalent to handle with there being man-machine mode to simulate unmanned plane.
The comprehensive parameters instrument is:
In order to save the area of monitoring screen preciousness, and emulation advanced person's digital integrated instrument function, it is abundant to design display parameter, friendly interface, and structure is neatly orderly, takies the little comprehensive parameters Displaying Meter of screen area, and index is as follows:
Instrument is of a size of: 280 * 280 pixels, and translucent.
The parameter that instrument shows: highly, rising or falling speed, forward flight speed, the course, the angle of pitch, the pitch angle, total apart from value, the throttle value, engine speed, gyroplane rotate speed, environment temperature, state of flight are judged (normal, unusual).
Flight path is shown as:
The route that shows the helicopter practical flight with the mode of trace in real time, the relation of course and flight path, judge whether helicopter exists slipspeed, whether departs from prospective path etc., flight path figure can amplify arbitrarily, dwindles, move so that reach best observing effect.
State of flight is judged with warning:
According to predefined flight parameter restriction, remote real-time monitoring software judges at any time whether the flight parameter of depopulated helicopter exceeds the flight parameter restriction, and in time send alerting signal and notify the operator to revise flight parameter, reduce inflight emergency, alleviate operator's labour intensity, utilize speech synthesis technique, can use voice broadcast flight parameter and state of flight, and send the abnormal alarm signal.
Telemetry receives and is filtered into:
One of gordian technique of native system is real-time and the reliability that guarantees telemetry, and dual port RAM and dma mode are adopted in communicating by letter of telemetering data receiving set and remote real-time monitoring computing machine, fully save CPU time.Contain wild value and error in the telemetry, native system adopts the real-time telemetry data filtering algorithm that is fit to this depopulated helicopter, and the condition that is not more than 200ms at filtering delay-time is issued to good filtering effect.
Telemetry graphically is shown as:
Telemetry shown in the mode of curve map and have a complete integration of user interaction functionality (scaling is selected, and measures, relatively or the like).
The telemetry storage with aftertreatment is:
When showing flight parameter in real time original telemetry is stored in the hard disk, aerial mission can be read the telemetry that is stored in the hard disk after finishing, and carries out data filtering, functions such as data presentation.
System time is calibrated to:
Utilize the system time of the real-time supervisory control comuter in gps time parametric calibration ground that comprises in the telemetry, make remote real-time monitoring system have the precise time benchmark.
The telemetry playback is:
Aerial mission can utilize the telemetry that is stored in the hard disk that whole flight course is play again, so that scrutinize flight course after finishing.
Advantage of the present invention is: reduced pilotless helicopter ground controlling person's training cost, in this device, adopted virtual reality technology and a large amount of practical flight data, simulated flight training scene true to nature, the sensation that the operator is had be in the action; Adopt surround sound to set up the sound effect of flight training, add voice suggestion and make the operator just can grasp the technology of handling pilotless helicopter in the short period of time.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is aircraft parameter displayed map on display 20 when correctly flying.
Fig. 3 is aircraft flight condition displayed map on display 6 when correctly flying.
Fig. 4 is aircraft instrument parameter displayed map on display 4 when correctly flying.
Among the figure: 1. the preceding right voice box 6. display B of middle audio amplifier 3. projective large-screens 4. display A5. 7. flight control platforms 8. host As 9. monitors 10. right-hand tread plates 11. operating rods 12. training operator seats, 13. back right voice box, 14. woofers, 15. back left voice box 16. collective-pitch levers 17. left-hand tread plates 18. display C 19. host Bs 20. display D before the left voice box 2. before
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Please referring to shown in Figure 1, a kind ofly be used for the device that the pilotless helicopter operator carries out synthetic flight training, it comprises compositions such as projective large-screen 3, display, main frame, flight control platform 7, operating rod 11, collective-pitch lever 16, left-hand tread plate 17, right-hand tread plate 10, surround sound audio amplifier.After being connected in series respectively, the surround sound audio amplifier is connected on the host B 19, projective large-screen 3, display A 4, one end of flight control platform 7 is connected on the host B 19, display D 20, display B 6, the other end of flight control platform 7 is connected on the host A 8, display C 18, collective-pitch lever 16, operating rod 11, left-hand tread plate 17, right-hand tread plate 10, monitor 9 is connected on the flight control platform 7, flight control platform 7 is installed in the dead ahead at training operator seat 12, three display D 20, display A4 and display C 6 are installed in the front of flight control platform 7 respectively, the positive front upper place at training operator seat 12 is equipped with projective large-screen 3, the left side at training operator seat 12 is equipped with collective-pitch lever 16, operating rod 11 and left-hand tread plate 17, right-hand tread plate 10 is installed in the centre of training 12 fronts, operator seat and flight control platform 7; Whether display B 18, it is correct to be used for the checked operation keyboard if also being installed on the flight control platform 7; The surround sound audio amplifier is made up of preceding right voice box 5, preceding middle audio amplifier 2, preceding left voice box 1, back left voice box 15, woofer 14 and back right voice box 13, be installed in the training control cabin around, the surround sound audio amplifier is used for providing audio alert prompting and corrective manipulated flight to handling the trainer; Operating rod 11 in the maneuvering device is control aircraft flight attitude, collective-pitch lever 16 is total distance of control and throttle, left-hand tread plate 17 control aircrafts fly left, right-hand tread plate 10 control aircrafts fly to the right, operating rod 11 and left and right pedal are installed in the front at training operator seat 12, and collective-pitch lever 16 is installed in the left side at training operator seat 12; Projective large-screen 3 is translucent, and the parameter of demonstration has: highly, rising or falling speed, forward flight speed, the course, the angle of pitch, the pitch angle, total apart from value, the throttle value, engine speed, gyroplane rotate speed, environment temperature, state of flight is judged.
In the present invention, the landform on the spot that the inventor adopts is: with the landform altitude data of landform by 50 meters interval measurement sea level elevations formation, take photo by plane the photograph on the face of land as terrain texture figure, landform altitude data and terrain texture figure are deposited in the computing machine as remote real-time monitoring software, form three-dimensional electronic landform true to nature.
Flight attitude is a 3-D display, read telemetry, draw the 3 dimensional drawing of depopulated helicopter according to the telemetry and the driver's that disembarks viewing angle, show the flight attitude that depopulated helicopter is current visually, approach the effect that the driver that disembarks sees real helicopter.
Example 1: the selection landform is the plains region;
Selection weather is ceiling unlimited;
Select time is high noon.
Training operator operation steps is:
Open engine, carry collective-pitch lever 16 on a small amount of, adjusting engine speed is 3000 rev/mins, it is liftoff until helicopter to carry collective-pitch lever 16 on slowly after the cylinder head temperature rises to 80 degrees centigrade, keep flying height to hover 1 minute for 2 meters, carry collective-pitch lever 16 in the continuation and improve flying heights to 30 meter, slowly push away operating rod 11 forward, helicopter flies before quickening, and operating rod 11 makes the route flight of helicopter according to appointment.
Example 2: selecting landform is the area, mountain range;
Selecting weather is that the cloudy day is cloudy;
Select time is dawn.
Training operator operation steps is:
Open engine, carry collective-pitch lever 16 on a small amount of, adjusting engine speed is 3000 rev/mins, puies forward total distance on slowly after the cylinder head temperature rises to 80 degrees centigrade, 16 until helicopter therefore liftoff (atmospheric density in area, mountain range is less, and it is more more than the plains region to carry collective-pitch lever 16 on.), keep flying height to hover 1 minute for 2 meters, put forward total distance 16 in the continuation and improve flying heights to 30 meter, slowly push away forward and fly before operating rod 11 helicopters quicken, operating rod 11 makes helicopter, and (area, mountain range adds that cloudy cloudy weather visibility is lower according to the flight of the route of appointment, flying height should suitably improve, in order to avoid knock the mountain peak.)。
Example 3: the selection landform is the urban area;
Selection weather is foggy weather;
Select time is dawn.
Training operator operation steps is:
Open engine, carry collective-pitch lever 16 on a small amount of, adjusting engine speed is 3000 rev/mins, it is liftoff until helicopter to put forward total distance 16 after the cylinder head temperature rises to 80 degrees centigrade on slowly, keep flying height to hover 1 minute for 2 meters, carrying collective-pitch lever in the continuation improves flying height to 50 and meter (should suitably improve according to surrounding buildings object height degree, in order to avoid knock buildings.), slowly pushing away flying before operating rod 11 helicopters quicken forward, operating rod 11 makes helicopter, and (urban area adds that foggy weather visibility is lower, and flying height should suitably improve, and flying speed should suitably reduce in order to avoid knock buildings according to the route flight of appointment.)。
Claims (4)
1, a kind ofly be used for the device that the pilotless helicopter operator carries out synthetic flight training, it is characterized in that: it comprises projective large-screen (3), display, main frame, flight control platform (7), monitor (9), operating rod (11), collective-pitch lever (16), left-hand tread plate (17), right-hand tread plate (10), the surround sound audio amplifier, after being connected in series respectively, the surround sound audio amplifier is connected on the host B (19), projective large-screen (3), display A (4), one end of flight control platform (7) is connected on the host B (19), display D (20), display B (6), the other end of flight control platform (7) is connected on the host A (8), display C (18), collective-pitch lever (16), operating rod (11), left-hand tread plate (17), right-hand tread plate (10), monitor (9) is connected on the flight control platform (7), flight control platform (7) is installed in the dead ahead at training operator seat (12), three display D (20), display A (4) and display B (6) are installed in the front of flight control platform (7) respectively, the positive front upper place at training operator seat (12) is equipped with projective large-screen (3), the left side at training operator seat (12) is equipped with collective-pitch lever (16), operating rod (11) and left-hand tread plate (17), right-hand tread plate (10) be installed in training (12) front, operator seat and flight control platform (7) between.
2, a kind of device that the pilotless helicopter operator carries out synthetic flight training that is used for according to claim 1, it is characterized in that: the comprehensive parameters instrument is translucent, and the parameter of demonstration has: highly, rising or falling speed, forward flight speed, course, the angle of pitch, the pitch angle, total apart from value, throttle value, engine speed, gyroplane rotate speed, environment temperature, state of flight is judged.
3, a kind of device that the pilotless helicopter operator carries out synthetic flight training that is used for according to claim 1, it is characterized in that: (a) the landform situation of Cai Jiing is: plains region, knob, area, mountain range, urban area, landform forms the landform altitude data by 50 meters interval measurement sea level elevations: (b) weather conditions of Cai Jiing are: ceiling unlimited, sunny cloudy, the cloudy day is cloudy, light rain is continuous, foggy weather: (c) the time situation of Cai Jiing is: dawn, high noon, at dusk, the late into the night.
4, a kind of device that the pilotless helicopter operator carries out synthetic flight training that is used for according to claim 1, it is characterized in that: the process of flight training comprises: the required flying height of 30 meters height of pre-takeoff check → input navigational parameter → pilot engine → with 3000 rev/mins of warming ups of rotating speed → enter stabilization of speed → hover at overhead 2 meters of distance takeoff point and check whether maneuvering device is normal → rise to → be provided with, speed and entry altitude, velocity-stabilization → enter independent navigation → monitoring autonomous flight make a return voyage to preparing to land → send instruction monitoring aircraft make a return voyage situation → be provided with behind the assigned address 100 meters → aircraft of flying height fall high remove after 100 meters the highly stable remote control of velocity-stabilization → releasings disappear prompt drop height → adjustments aircraft position to the landing field overhead 2 meters hover → soft fall high landings → releasing stabilization of speed → reduction rotating speed to 3000 rev/min cooled engine → cylinder temperature be lower than 120 spend after reduction rotating speeds to 2000 rev/min → kill engine → the flight training end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011445904A CN1156807C (en) | 2001-12-21 | 2001-12-21 | Analog flight training equipment for manipulator of robot helicopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011445904A CN1156807C (en) | 2001-12-21 | 2001-12-21 | Analog flight training equipment for manipulator of robot helicopter |
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| CN1356675A CN1356675A (en) | 2002-07-03 |
| CN1156807C true CN1156807C (en) | 2004-07-07 |
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| CNB011445904A Expired - Fee Related CN1156807C (en) | 2001-12-21 | 2001-12-21 | Analog flight training equipment for manipulator of robot helicopter |
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Cited By (1)
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2001
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103155017A (en) * | 2010-08-30 | 2013-06-12 | 格伦策巴赫机械制造有限公司 | Apparatus and method for operating a flight simulator with a special impression of reality |
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