CN208335503U - Based on virtual reality and sterically defined loading training simulation system - Google Patents

Abstract

The utility model provides a kind of based on virtual reality and space orientation technique loading training simulation system, including lifting set remote-controller, data acquisition control equipment, wireless dummy reality head is aobvious, the aobvious number of no the end of a thread passes device, space positioning apparatus and Training Control host, lifting set remote-controller is connected to data acquisition control equipment, data acquisition control equipment is connected to Training Control host, space positioning apparatus is aobvious through scanning device virtual reality head, to obtain the position and direction information of operator, wireless dummy reality head is aobvious by its direction, position and posture information pass device through the aobvious number of no the end of a thread and pass to Training Control host, vision signal is passed to wireless dummy reality head through the aobvious number biography device of no the end of a thread and shown by Training Control host.The utility model has the advantages that systematic training site requirements is low, training device construction cost is low, training environment setting multiplicity, training fidelity feeling of immersion is extremely strong, training effect is good, adaptation is wide, outward bound is easy, application is convenient.

Description

Based on virtual reality and sterically defined loading training simulation system

Technical field

The utility model relates to virtual realities and loading training, especially a kind of to be based on virtual reality and space orientation technique Loading training simulation system.

Background technique

Heavy mechanical equipment filling operation suffers from extremely wide application in military and civilian field, but there is dress It fills out manipulator and cultivates difficult, problem at high cost, talent's supply becomes bottleneck.In real vehicle training process, for new hand there is Greatly risk especially just starts the operator to undergo training, is unfamiliar with to equipment and operation, is easy to appear operation When control it is improper lead to excessive velocities, the too urgent situation of start and stop, or even there is maloperation, it is possible to cause serious consequence.

The method that large scale equipment loading training mostly uses HWIL simulation simulator and in-kind simulation device at present, half is in kind imitative True simulator drives the model sport in virtual scene often through the signal of acquisition lifting set remote-controller, and operator passes through Viewing screen is shown, obtains operational feedback to achieve the purpose that trained filling person.This method is due to participant it is seen that two The image of dimension, feeling of immersion is poor, and observe visual angle it is relatively fixed, be not inconsistent with situation when practical operation, thus training effect by To severely restricts.In-kind simulation device majority use and real vehicle load close to consistent operation cockpit, control equipment, filling equipment, Remote-control handle is operated, the method for filling object even in kind achievees the purpose that load Skill Development have and real vehicle manipulates ring Border, manipulation the feel advantage good close to training effect, but there are at high cost, abrasion is big, filling equipment manufacture requires high, effect to take Than low disadvantage.

Utility model content

For above situation, for the defect for overcoming the prior art, the utility model provides a kind of based on virtual reality and sky Between location technology loading training simulation system, efficiently solve the technical problem in background above technology.

The utility model includes lifting set remote-controller, data acquisition control equipment, wireless dummy reality head is aobvious, shows without the end of a thread Number passes device, space positioning apparatus and Training Control host, which is characterized in that the lifting set remote-controller is connected to data acquisition Equipment is controlled, the data acquisition control equipment is connected to Training Control host,

The space positioning apparatus is aobvious through scanning device virtual reality head, to obtain the position and direction letter of operator Breath, the wireless dummy reality head is aobvious to pass to trained control through the aobvious number biography device of no the end of a thread for its direction, position and posture information Vision signal is passed to wireless dummy reality head through the aobvious number biography device of no the end of a thread and shown by host processed, the Training Control host.

The space positioning apparatus is Dual base stations laser locating apparatus.

Through wireless device transmissions between the data acquisition control equipment and virtual implementing helmet and lifting set remote-controller Data.

The utility model obtains the aobvious spatial position and direction of wireless dummy reality head using space positioning apparatus, utilizes number The operational motion signal that lifting set remote-controller is obtained according to acquisition control equipment, the information that wireless dummy reality head is shown, crane The operation information of remote controler is transferred to Training Control host, and Training Control host is by driving the mould in virtual scene after processing Type, and the 3-D image of virtual scene and audio signal are passed into device by the aobvious number of no the end of a thread and are transferred to wireless dummy reality head Aobvious, trainee passes through the aobvious visual information and acoustic information for obtaining virtual scene of wireless dummy reality head.

It is low with systematic training site requirements, training device construction cost is low, training environment setting multiplicity, training fidelity The advantage that feeling of immersion is extremely strong, training effect is good, adaptation is wide, outward bound is easy, application is convenient.

Detailed description of the invention

Fig. 1 is the utility model circuit diagram.

Specific embodiment

Specific embodiment of the present utility model is described in further detail below in conjunction with attached drawing.

The technical solution of the utility model is, including lifting set remote-controller 1, data acquisition control equipment 2, wireless dummy are existing Real head shows 3, passes device 4, space positioning apparatus and Training Control host 6 without the aobvious number of the end of a thread, which is characterized in that the crane is distant Control device 1 is connected to data acquisition control equipment 2, and the data acquisition control equipment 2 is connected to Training Control host 6,

The space positioning apparatus is through scanning wireless dummy reality head aobvious 3, so that position and direction information is obtained, the nothing Its direction, position and posture information are passed device 4 through the aobvious number of no the end of a thread and pass to Training Control host 6 by line virtual reality head aobvious 3, Vision signal is passed device 4 through the aobvious number of no the end of a thread and passes to wireless dummy reality head aobvious 3 by the Training Control host 6.

The space positioning apparatus is Dual base stations laser locating apparatus 5.

Through wireless device transmissions between the data acquisition control equipment and virtual implementing helmet and lifting set remote-controller Data.Lifting set remote-controller line connects data acquisition control equipment, and wireless dummy reality head shows line and even passes device without the aobvious number of the end of a thread.

(1) lifting set remote-controller

Lifting set remote-controller uses actual load real vehicle remote controler, connects Training Control platform after installing data acquisition control equipment additional, Simulation and the completely the same operating handle of actual load and operating experience, the data for simulation and operational motion to crane operation It generates.

(2) data acquisition control equipment

According to the crane remote controller models of selection, using the acquisition control equipment of adaptation, for lifting set remote-controller The signal of output is acquired and transmits, and the control signal that Training Control host generates is transferred to lifting set remote-controller.

(3) wireless dummy reality head is aobvious

Device is passed by the aobvious number of no the end of a thread and receives the virtual scene three-dimensional audio-visual information that Training Control host generates, and head The position and attitude information of helmet passes device by the aobvious number of no the end of a thread and is transferred to Training Control host.

Wireless dummy reality head is aobvious to use 32 photoelectric sensors and locator, and 360 ° omni-directional is mobile, accurate band consumption Person enters true virtual world；110 ° of big visual angles close to human eye, high definition 2160*1200 resolution ratio；90Hz high screen-refresh Rate, adjustable distance of camera lens, adjustable interpupillary distance, sub- Millisecond precise positioning.Each infrared sensor corresponding position All by small infrared fileter, these infrared windows can be such that infrared signal is more clear, and position more accurate.Wire/wireless Tracking is accurately positioned in bimodulus, and head is aobvious in the rate high-velocity scanning localization region of 100 frame per second, 360 degree of moving tracings；Lower than 20MS The solid space of delay positions；Synchronous movement is simply brought to feed back；Two only need to plug in synchronization can be completed.It is simple easy With intuitive interaction.24 photoelectric sensors and locator, Multifunctional touching plate, grips button, easily manipulate virtual generation at trigger All of boundary；Pro-skin material, super true mechanics feedback system；

On wireless dummy reality head is aobvious freely listen intelligent headband that can make to wear off the helmet is more easy, discount shows distribution of weight and puts down Weighing apparatus, and built-in liner and Integral earphone.Using hard encasing material arrange in pairs or groups head easy to operate show size adjusting knob, can adjust height The built-in Integral earphone of degree and angle, optimization head shows weight distribution and cable storage is more comfortably more convenient.Headband rear Adjusting knob keeps the helmet more docile with head, and the weight distribution of inner liner and optimization makes wearing more comfortable, and it is more heavy to enjoy The VR virtual reality experience of leaching.High-quality sound effect is followed one's bent, and sound is most important for the experience immersed.It freely listens in intelligent headband Integral earphone is built, you is facilitated conveniently to enter into VR virtual reality.The adjustable height of earphone and angle, are bonded your ear Piece, dismounting is also easy to；

(4) device is passed without the aobvious number of the end of a thread

For carrying out bidirectional data transfers with the wireless dummy reality helmet, the wireless of filling operator's loading training is realized Change, reduces the yoke of wire cable.

Comprehensive laser scanning is carried out to zone of action using Lighthouse Dual base stations laser scanning station-keeping mode, is passed through Location tracking sensor on the two laser sensors identification head (vacantly placed) on wall is aobvious, to obtain position and direction Information；

The vision signal that Training Control host renders is not had to using 60GHz 802.11ad high speed millimeter wave transmission technology Data encoding compression is directly wirelessly transferred, and is carried out within 20 meters of short distance to realize to the data of 1920*1080@90fps It is wirelessly transferred, meets wireless dummy reality head and show transmission delay low (lower than 2ms), transmission bandwidth high (5-7Gbps), transmission reliably The high basic demand of property.It is wirelessly transferred delay<2ms, whole delays time to control is within 20ms, transmission range>5m.Wireless external member tool Have the aerial array and super large bandwidth of depth optimization, ensure that display experience with it is wired when it is completely the same, i.e., using wireless transmissions Scheme also can guarantee that picture is no-delay；

The vision signal of Training Control host rendering does not have to data encoding and compresses directly wireless transmission, receives the aobvious end inertia of head Sensor information；

The aobvious number of no the end of a thread pass device by the high-quality video data received carry out approximate real time picture rendering output to Wireless dummy reality head is aobvious, while showing inertial sensor information with most short delay acquisition head and sending in a wireless form, for instruction Practice control host video rendering and inertial attitude data are provided.Head is aobvious to calculate current visual angle output current visual angle according to inertial sensor Panoramic picture, user, which can see, stablizes no-delay portal image, and just look like image locally generates in the helmet.Backstage at this time Encoded video stream the helmet is constantly filled by wifi with the delay of < 20ms, calculated with completing the position of relatively high delay；

(5) space positioning apparatus

Positioning signal is provided for wireless dummy reality head is aobvious, determines that wireless dummy reality head shows the position and direction in space Information.

Dual base stations laser positioning module carries out space orientation using the tracer technique of SteamVR world hegemony, possesses low prolong Late, the characteristics such as submillimeter level accuracy and 360 degree of coverings.It either stands, be seated, or visited in a manner of walking about in space Rope virtual world, VR virtual reality is forever by you as the center in the world.Lighthouse is made of two base stations: each base station In have an infrared LED array, the Infrared laser emission device of two mutually perpendicular rotations of shaft.Revolving speed is the circle of 10ms mono-.Base The working condition stood is such that 20ms is a circulation, and infrared LED glistens at the beginning of circulation, the rotation of X-axis in 10ms Turn the inswept entire space of laser, Y-axis does not shine；The inswept entire space of the rotary laser of Y-axis, X-axis do not shine in lower 10ms.In base Stand LED flash of light after will synchronization signal, then photosensitive sensor can measure X-axis laser and Y-axis laser arrives separately at The time of sensor.This time is just exactly that X-axis and Y-axis laser go to that this is specific, light the angle of sensor when Between, then sensor also just there is known relative to the X-axis and Y-axis angle of base station；It is distributed in the aobvious photosensitive biography on controller of head The position of sensor is also known, and then passes through the alternate position spike of each sensor, so that it may calculate the position for lifting one's head aobvious and movement Track；

70 photosensitive sensors are had more than on virtual reality head is aobvious.While laser is inswept, head is aobvious to be started counting, sensor After receiving laser, using the relationship of sensor position and reception Laser Time, the accurate position relative to laser emitter is calculated It sets.The photosensitive sensor that laser beam is hit in the same time is enough, can form the model of a 3D.It can not only detect and lift one's head The position of helmet can also capture the direction of the helmet；

The advantage of laser positioning technology, first is that at low cost, relatively expensive infrared motion captures video camera, utilizes laser light Tower carries out the cost of motion capture, and relatively low honest and clean it is enough.Second is that positioning accuracy is high, in the field VR, the positioning accuracy of superelevation is anticipated Taste brilliant feeling of immersion.The precision of laser positioning scheme can achieve a millimeter rank, also just achieve virtual reality experience Shake effect.

(6) Training Control host

For handling the operation information of lifting set remote-controller, and virtual scene is driven, the information of virtual scene is transferred to Wireless dummy reality head is aobvious, data acquisition control equipment.

The present invention is not limited solely to that the specific virtual reality head mentioned is aobvious and space positioning apparatus, can also use other Virtual reality head with similar performance is shown and positioning device.

Claims (3)

1. being based on virtual reality and space orientation technique loading training simulation system, including lifting set remote-controller (1), data acquire Control equipment (2), wireless dummy reality head shows (3), passes device (4), space positioning apparatus and Training Control master without the aobvious number of the end of a thread Machine (6), which is characterized in that the lifting set remote-controller (1) is connected to data acquisition control equipment (2), the data acquisition control Control equipment (2) is connected to Training Control host (6),

The space positioning apparatus shows (3) through scanning wireless dummy reality head, so that position and direction information is obtained, it is described wireless Virtual reality head shows (3) and its direction, position and posture information is passed to Training Control host through aobvious number biography device (4) of no the end of a thread (6), vision signal is passed to wireless dummy reality head through aobvious number biography device (4) of no the end of a thread and shown by the Training Control host (6) (3).

2. according to claim 1 existed based on virtual reality and space orientation technique loading training simulation system, feature In the space positioning apparatus is Dual base stations laser locating apparatus (5).

3. according to claim 1 existed based on virtual reality and space orientation technique loading training simulation system, feature In through wireless device transmissions data between the data acquisition control equipment and virtual implementing helmet and lifting set remote-controller.