CN208384849U - Special vehicle drive training simulator system based on multi-degree-of-freedom motion platform and vision simulation - Google Patents
Special vehicle drive training simulator system based on multi-degree-of-freedom motion platform and vision simulation Download PDFInfo
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- CN208384849U CN208384849U CN201721558917.9U CN201721558917U CN208384849U CN 208384849 U CN208384849 U CN 208384849U CN 201721558917 U CN201721558917 U CN 201721558917U CN 208384849 U CN208384849 U CN 208384849U
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Abstract
The utility model provides a kind of special vehicle drive training simulator system based on multi-degree-of-freedom motion platform and vision simulation.Technical solution is, including driving simulation cabin, Training Control platform, vision emulation system, sound system and multi-degree-of-freedom motion platform, it further include electrohydraulic servo system and platform controller, the six degree of freedom platform includes lower platform and the upper mounting plate that is placed in right above lower platform, six hydraulic cylinders of electrohydraulic servo system are disposed between upper lower platform, on upper lower platform, the driving simulation cabin is fixed on upper mounting plate the both ends difference universal hinging of the hydraulic cylinder.The utility model is fed back using 6-dof motion platform cooperation emulation cockpit real simulation special vehicle in different pavement conditions driving conditions, using vision simulation display technology and derived from the operating condition noise system of actual load, found to driver makes special vehicle driver training have substitution sense and feeling of immersion true to nature with stronger vision, the sense of hearing, tactile and acceleration impact force.
Description
Technical field
The utility model relates to special vehicle driver training, motion platform measurement and vision simulation application fields, especially
A kind of special vehicle drive training simulator system based on multi-degree-of-freedom motion platform and vision simulation.
Background technique
Special vehicle is essentially all ultra-wide or overlength, they act on prominent, expensive, bulky feature,
The driving efficiency of its driver is formed and cycle of training, training of safety and training support etc. are proposed new higher want
Ask, and the development of modern information technologies so that improved using advanced technology means large special vehicle driver training quality at
It is possible.The adaptability to changes that student copes with the following various complicated driving environments can be preferably cultivated by training analog system,
Substantially reducing actual load driver training bring people, mostly equipment is less, security risk is big, accident rate is high, driver training tissue difficulty
Greatly, the problems such as vehicle mechanical serious wear service life reduction.This technology can also be generalized to other military or civilian special types
Vehicle drive training plays the efficiency of " religion is war, white silk is war " to a greater extent, has high economic benefit and military valence
Value.In military field, the motor-driven driving of special vehicle is also to improve the effective means and method of survival ability.
Army of various countries thus, without exception, the input in peacetime military training are huge.With regard to special purpose vehicle
Drive for, traditional real vehicle live-fire training mode brings very big burden to army in the requirement to place and funds,
The problem of bringing nature and social environment aspect.Some developed countries successively develop using advanced computer algebra method,
The special vehicle drive training simulator system of new generation of digital video transmission technology and computer networking technology.
The country is started late based on the special vehicle drive training simulator system of motion platform, but growth momentum was fast in recent years
Suddenly, the arm of the services such as armored force, tank training in mostly use greatly or without motion platform or with Three-degree-of-freedom motion platform
Extraordinary drive training simulator system, graphical display has compared with much progress, without real simulation actual load real vehicle training, simultaneously
There are also larger gaps for trained feeling of immersion and fidelity.
Utility model content
For above situation, for the defect for overcoming the prior art, the utility model provides a kind of based on multifreedom motion
The special vehicle drive training simulator system of platform and vision simulation.
Technical solution is, including driving simulation cabin, Training Control platform, vision emulation system, sound system and multiple degrees of freedom
Motion platform, which is characterized in that further include electrohydraulic servo system and platform controller, which includes lower flat
Platform and the upper mounting plate being placed in right above lower platform are disposed with six hydraulic cylinders of electrohydraulic servo system between upper lower platform, described
On upper lower platform, the driving simulation cabin is fixed on upper mounting plate the both ends difference universal hinging of hydraulic cylinder.
The utility model is not being gone the same way using 6-dof motion platform cooperation emulation cockpit real simulation special vehicle
Noodles part driving condition feedback, using vision simulation display technology and derived from the operating condition noise system of actual load, is founded to driver
With stronger vision, the sense of hearing, tactile and acceleration impact force, make special vehicle driver training that there is substitution sense true to nature and sink
Leaching sense.
Detailed description of the invention
Connection figure of the Fig. 1 between the utility model six degree of freedom platform and pedestal.
Fig. 2 is six degree of freedom platform perspective view.
Fig. 3 is the utility model circuit connection schematic diagram.
Fig. 4 is the utility model frame principle.
Specific embodiment
Specific embodiment of the present utility model is described in further detail below in conjunction with attached drawing.
It is provided by Fig. 1 to Fig. 4, the technical solution of the utility model is, including driving simulation cabin 1, Training Control platform 2, view
Scape analogue system, sound system and multi-degree-of-freedom motion platform, which is characterized in that further include electrohydraulic servo system and platform courses
Device, the multi-degree-of-freedom motion platform include lower platform 3 and the upper mounting plate 4 for being placed in 3 surface of lower platform, are arranged between upper lower platform
There are six hydraulic cylinders 5 of electrohydraulic servo system, the both ends difference universal hinging of the hydraulic cylinder 5 is described to drive on upper lower platform
Emulation cabin 1 is sailed to be fixed on upper mounting plate 4.
The universal hinging is ball-joint.
Six 5 every two of hydraulic cylinder are one group, and same group of two hydraulic cylinders 5 are arranged symmetrically at an angle, three groups of liquid
Cylinder pressure 5 is circumferentially uniformly arranged.
Further include pedestal 6, the lead screw 7 being rotatably connected on pedestal 6, the silk are equipped between the lower platform 3 and pedestal 6
One end of thick stick 7 is connected with decelerating motor 8, and the lead screw 7 is connected on 3 downside of lower platform through feed screw nut 9, the lead screw 7
The lower platform 3 of radially opposite sides is slidably connected on pedestal 6 through sliding block 10.Lead screw is arranged perpendicular to the screen of vision emulation system,
Screw mechanism is set so that when need to adjust driving simulation cabin to screen apart from when, can star decelerating motor, lead screw rotates
Through feed screw nut driving lower platform drive driving simulation on-deck towards screen close to or far from.
In the utility model,
(1) driving simulation cabin
Driving simulation cabin main body is using the structure of steel skeleton, glass reinforced plastic covering or metal skin, and shell is using vehicle spray painting
Technique, be equipped in cockpit instrument desk, steering wheel, all kinds of pedals, driver's chair, gear shift lever, safety belt, hand brake etc. with
The related various kinds of equipment of driver behavior, interior layout is consistent with prototype vehicle as far as possible, the position of each operating member, size, appearance, face
Color, operating method are identical as actual load corresponding component.All devices, manipulation device and various instrument are identical as real vehicle in cabin, right
The mobility such as each gear max. speed of auto model, max. climb slope, maximum no-load speed, minimum stable engine speed are done high-quality
Amount emulation, whole operating functions that analog real vehicle drives, including starting, engine warm-up, parking, steady acceleration, speed stabilizing row
It sails, turn to and pivot stud, reversing, upper downslope, and failure can be set and taken emergency measures.These manipulation devices and instrument
It is connected with Training Control platform.It drives what comes into a driver's and meets actual load visual field；Driver behavior process is consistent with actual load, realizes and actual load is approximate
Consistent operating process and operating experience.
(2) multi-degree-of-freedom motion platform
Multi-degree-of-freedom motion platform is made of electrohydraulic servo system and platform controller.This system can use six degree of freedom
Motion platform, but it is not limited to 6-dof motion platform.
Six degree of freedom platform by six hydraulic cylinders, each six universal hinging heads and upper and lower two platforms form up and down, under
Platform is fixed on the base, by the stretching motion of six hydraulic cylinders, complete upper mounting plate space six-freedom degree (X, Y, Z, α,
Beta, gamma) movement, so as to simulate various spatial movement postures.Six degree of freedom platform is a kind of six degree of freedom electro-hydraulic servo
System provides mounting platform for driving simulation cabin, controls six motor coordination movements by servo-driver, carries out six degree of freedom
Body-sensing emulation provides the vehicle movement in the landform of the different surface structures of simulation generation and hardness and vibrating effect, generates true to nature
Vehicle respectively to body-sensings effects such as acceleration, all kinds of vibrations, inclination, pitching and sideslips, so that trainee is had body on the spot in person
It tests, improves trained feeling of immersion and effect.The 6-dof motion platform of the utility model, by lower platform on pedestal, and
Driving simulation cabin can effectively be adjusted by the cooperation of feed screw nut and lead screw and arrive the distance between screen, be more conducive to by
The visual experience of simulated training person is adjusted to best, carries out electrodeless adjustment using lead screw, can accurate adjustable range distance,
Decelerating motor therein can be to be made of servo motor connection retarder.
(3) Training Control platform
Training Control platform integrates the functions such as multitask, multi-screen output, wireless data transmission, and there is training topic to set
Set, handling emergent situation, the motor-driven confrontation in battlefield, driver training monitoring, system group network training and system endurance assessment etc. functions.Electricity
Fluid servo system is connected on Training Control platform, is controlled by training console.
Training Curriculum arrangement, which is capable of providing traveling place, obstacle course, has mark and the minefield without mark, is waters, vertical
Obstacle, railway and airport loading area, parking lot and nitril pilot road etc..
Handling emergent situation can simulate various failures and emergency, such as engine fires, power loss, steering, system
Dynamic failure, crawler belt fall off, the leakage of engine motor oil and transmission fluid pressure oil and racing of the engine etc..Examination assessment is to trained driving
The level of skill of member is analyzed, can playback scenario, failure is set, be can be used and be preprogramed scene or be traveled freely scene.
The motor-driven confrontation in battlefield can provide the dual training environment with tactical backgrounds for trainee；According to superior command
Progress battlefield is motor-driven, battlefield is disposed, operation.
Systematic training monitoring is equipped with the check device of simulator master switch and main component technology status.Teacher can be by aobvious
Show all operationss movement, engine operating condition, Vehicle Speed and the shelves row of device and various detection monitored meter trainees
It is whether correct with the use of steering apparatus.Different running resistance and power-unit failure can be arranged simultaneously in teacher from console
It can be got in touch with by interior communication and trainee.
Systematic training networking uses com technique, can be used in combination with other training systems, realizes multisystem collaboration instruction
Practice.
System endurance assessment is substantially carried out network analysis, building evaluation index system, and it includes bright for establishing assessment models mainly
True appraisal procedure, the prototype software for selecting appraisal procedure establish system effectiveness and Evaluation Model of Operational Effectiveness etc., provide assessment knot
Fruit proposes recommendation on improvement.
(4) vision emulation system
Vision emulation system can the driving natural environment and complex electromagnetic environment of analog approximation on the spot, analog is various to drive
It sails environmental condition, including travels on rural area and Urban road, Urban street and in humidity, ice and snow, miriness, sand ground and hard road ground
On cross-country driving.Driver can carry out more trench, across trench, excessively disconnected wall, by stone riprap and the driver training of obstacle；May be used also
Carry out the training by narrow road, bridge and upper and lower transport vehicle.Including city, Plain, hills, mountain area and seabeach etc., it is included in
Fleet or bicycle driving environment under the light conditions such as daytime, night, morning, dusk；
Visual display can use triple channel large screen cylindrical surface projecting visual system, triple channel large screen spherical projection what comes into a driver's
System, triple channel large screen plane projection visual system, three screens highlight the seamless spliced visual system of LED and three screens highlight naked eye 3D
Any one in seamless spliced visual system.Visual display is placed in front of driving simulation cabin, provides scenic picture to trainee.
(5) sound system
The appropriate location of car body interior trim hides the sound system for being equipped with 5.1 sound channels, sound system analog and real vehicle phase
Close engine operation noise and training audio environment.
Also there is the sound system of a set of 5.1 sound channel outside driving simulation shelter, for simulating the external trainer environment sound.
Driving simulation cabin, electrohydraulic servo system, vision emulation system and sound system in the utility model is trained
Console control.
All devices, manipulation device and various instrument are identical as real vehicle in the driving simulation cabin, driver behavior process,
Operating experience is consistent with actual load.
The Training Control platform integrates the functions such as multitask, multi-screen output, wireless data transmission, has training topic
The functions such as setting, handling emergent situation, the motor-driven confrontation in battlefield, driver training monitoring, system group network training and system endurance assessment.
Electrohydraulic servo system is connected on Training Control platform, is controlled by training console.
The vision emulation system can use triple channel large screen cylindrical surface projecting visual system, triple channel large screen spherical surface
Projection visual system, triple channel large screen plane projection visual system, three screens highlight the seamless spliced visual system of LED and three screens are high
Any one in the bright seamless spliced visual system of naked eye 3D.Visual display is placed in front of driving simulation cabin, is provided to trainee
Scenic picture.
The sound system full-scope simulation driving simulation shelter internal engine work noise and the external environment sound.
Driving simulation cabin, electrohydraulic servo system, vision emulation system and sound system in the utility model is trained
Console control.Specifically, the circuit theory control system is, including a Training Control host, Training Control host and network
Equipment carries out data interaction, and the network equipment and vision simulation host, platform controller and driving simulation cabin carry out data interaction, net
Network equipment connects video matrix, and vision simulation host is through sound system outside audio power amplifier connecting cabin, vision simulation host connection view
Frequency matrix, video matrix connect visual display and left and right rearview mirror, and platform controller connects electrohydraulic servo system, and ups power is given
Training Control host, the network equipment and platform controller power supply.Wherein include Training Control host, UPS electricity in Training Control platform
Source, the network equipment, platform controller.After vision emulation system is comprising vision simulation host, video matrix, visual display and left and right
Visor.The network equipment is interchanger.
Claims (4)
1. the special vehicle drive training simulator system based on multi-degree-of-freedom motion platform and vision simulation, including driving simulation cabin
(1), Training Control platform (2), vision emulation system, sound system and multi-degree-of-freedom motion platform, which is characterized in that further include electricity
Fluid servo system and platform controller, the multi-degree-of-freedom motion platform include lower platform (3) and are placed in right above lower platform (3)
Upper mounting plate (4) is disposed with six hydraulic cylinders (5) of electrohydraulic servo system, the both ends point of the hydraulic cylinder (5) between upper lower platform
On upper lower platform, the driving simulation cabin (1) is fixed on upper mounting plate (4) other universal hinging.
2. the special vehicle drive training simulator according to claim 1 based on multi-degree-of-freedom motion platform and vision simulation
System, which is characterized in that the universal hinging is ball-joint.
3. the special vehicle drive training simulator according to claim 1 based on multi-degree-of-freedom motion platform and vision simulation
System, which is characterized in that six hydraulic cylinder (5) every two are one group, and same group of two hydraulic cylinders (5) are symmetrical at an angle
Arrangement, three groups of hydraulic cylinders (5) are circumferentially uniformly arranged.
4. the special vehicle drive training simulator according to claim 1 based on multi-degree-of-freedom motion platform and vision simulation
System, which is characterized in that further include pedestal (6), be equipped between the lower platform (3) and pedestal (6) and be rotatably connected on pedestal (6)
On lead screw (7), one end of the lead screw (7) is connected with decelerating motor (8), and the lead screw (7) is connected to through feed screw nut (9)
On lower platform (3) downside, the lower platform (3) of lead screw (7) radially opposite sides is slidably connected at pedestal (6) through sliding block (10)
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721558917.9U CN208384849U (en) | 2017-11-21 | 2017-11-21 | Special vehicle drive training simulator system based on multi-degree-of-freedom motion platform and vision simulation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721558917.9U CN208384849U (en) | 2017-11-21 | 2017-11-21 | Special vehicle drive training simulator system based on multi-degree-of-freedom motion platform and vision simulation |
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| CN208384849U true CN208384849U (en) | 2019-01-15 |
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| CN201721558917.9U Expired - Fee Related CN208384849U (en) | 2017-11-21 | 2017-11-21 | Special vehicle drive training simulator system based on multi-degree-of-freedom motion platform and vision simulation |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110223564A (en) * | 2019-05-24 | 2019-09-10 | 武汉华瑞密达科教有限责任公司 | A kind of non-intrusive method analogue simulation training system |
| CN110619780A (en) * | 2019-11-06 | 2019-12-27 | 北京千种幻影科技有限公司 | VR simulation driving training device |
| CN111462568A (en) * | 2020-05-11 | 2020-07-28 | 成都沃赢创投科技有限公司 | Tank simulation training system based on VR and six-degree-of-freedom motion control |
| CN111685736A (en) * | 2020-06-19 | 2020-09-22 | 中南大学 | Train driver and passenger stress response testing system and testing method thereof |
| CN111882945A (en) * | 2020-08-28 | 2020-11-03 | 上海应用技术大学 | Hardware-in-loop simulation test simulation driving platform |
| CN112767769A (en) * | 2021-02-05 | 2021-05-07 | 贵州航天天马机电科技有限公司 | Transport vechicle simulation driving training system |
| CN114120748A (en) * | 2021-11-25 | 2022-03-01 | 中国人民解放军火箭军工程大学 | Six-degree-of-freedom motion platform system based on reverse gravity balance |
-
2017
- 2017-11-21 CN CN201721558917.9U patent/CN208384849U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110223564A (en) * | 2019-05-24 | 2019-09-10 | 武汉华瑞密达科教有限责任公司 | A kind of non-intrusive method analogue simulation training system |
| CN110619780A (en) * | 2019-11-06 | 2019-12-27 | 北京千种幻影科技有限公司 | VR simulation driving training device |
| CN111462568A (en) * | 2020-05-11 | 2020-07-28 | 成都沃赢创投科技有限公司 | Tank simulation training system based on VR and six-degree-of-freedom motion control |
| CN111685736A (en) * | 2020-06-19 | 2020-09-22 | 中南大学 | Train driver and passenger stress response testing system and testing method thereof |
| CN111882945A (en) * | 2020-08-28 | 2020-11-03 | 上海应用技术大学 | Hardware-in-loop simulation test simulation driving platform |
| CN112767769A (en) * | 2021-02-05 | 2021-05-07 | 贵州航天天马机电科技有限公司 | Transport vechicle simulation driving training system |
| CN114120748A (en) * | 2021-11-25 | 2022-03-01 | 中国人民解放军火箭军工程大学 | Six-degree-of-freedom motion platform system based on reverse gravity balance |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220713 Address after: No. 451, Huangshan Road, Shushan District, Hefei City, Anhui Province 230031 Patentee after: CHINESE PEOPLE'S LIBERATION ARMY ARMY ARTILLERY AIR DEFENSE ACADEMY Address before: 450000 No.22, 6th floor, unit 1, building 9, No.81, Yaochang Road, high tech Industrial Development Zone, Zhengzhou City, Henan Province Patentee before: HENAN HUANGYE TECHNOLOGY Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190115 Termination date: 20211121 |