CN217213989U - Forklift driving simulation system - Google Patents

Abstract

The utility model provides a fork truck simulation driving system relates to engineering apparatus simulation training equipment field. Fork truck simulation driving system includes: the device comprises a base, a three-degree-of-freedom seat, an operating platform, a seat control device, virtual reality glasses and a system control device. The three-degree-of-freedom seat comprises: the seat control device is respectively connected with the first linear driving rod piece and the second linear driving rod piece electrically, and the first linear driving rod piece and the second linear driving rod piece drive the movable platform to move. The real bump feedback of the driver in the driving process can be simulated, and a vivid driving environment is created for the driver.

Description

Forklift simulated driving system

Technical Field

The utility model relates to an engineering machine tool simulation training equipment field particularly, relates to a fork truck simulation driving system.

Background

Forklifts are vehicles used for the handling and transportation of goods and are widely used in the logistics industry. However, the forklift is a special vehicle for characteristic equipment with certain dangerousness, and in order to avoid safety accidents caused by the fact that students with insufficient experience perform real vehicle operation in the training process, it is necessary to develop a simulation training driving system capable of simulating the training experience of the forklift.

In the existing forklift simulation system, a user operates an operating part on the forklift simulation system, a display arranged in front of a seat displays a simulation picture of operation, the feedback is only limited to the simulation on the visual effect, the real feedback of driving the seat under a specific operating environment cannot be simulated, and the simulation effect is limited.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a fork truck simulation driving system can make different flexible actions according to the road conditions of driver in virtual scene, the first linear drive member and the second linear drive member of control three degree of freedom seats, and the simulation driver is at the real feedback of jolting of driving the in-process, has built lifelike driving environment for the driver.

The utility model provides a fork truck simulation system of driving, fork truck simulation system of driving includes: the system comprises a base, a three-degree-of-freedom seat, an operating platform, a seat control device, virtual reality glasses and a system control device;

the virtual reality glasses and the seat control device are respectively and electrically connected with the system control device;

the three-degree-of-freedom seat is arranged at one end of the surface of the base, the operating platform is arranged at the other end of the surface of the base, and the seat control device is arranged in the base;

the three-degree-of-freedom seat comprises: the seat control device is electrically connected with the first linear driving rod piece and the second linear driving rod piece respectively, and the first linear driving rod piece and the second linear driving rod piece drive the movable platform to move;

the system control device is used for providing virtual pictures for the virtual reality glasses, and the virtual reality glasses are used for displaying the virtual pictures.

In an alternative embodiment, the first linear drive link includes: the first universal joint, the first electric cylinder and the first fixed pin shaft are arranged on the first universal joint;

the first electric cylinder is connected with the movable platform through the first universal joint, and the first electric cylinder is connected with the static platform through the first fixed pin shaft;

the second linear drive link includes: the second universal joint, the second electric cylinder and the second fixed pin shaft are arranged on the second universal joint;

the second electric cylinder is connected with the movable platform through the second universal joint, and the second electric cylinder is connected with the static platform through the second fixed pin shaft.

In an optional embodiment, the operation table is provided with: the steering wheel comprises a switch, a first driving lever, a second driving lever, a steering wheel, a first operating rod, a second operating rod and a third operating rod;

the three-degree-of-freedom seat is also provided with: a safety belt;

the base surface is further provided with: the accelerator, the first brake pad and the second brake pad;

the first deflector rod and the second deflector rod are respectively arranged on the steering wheel.

In an alternative embodiment, the system further comprises:

the device comprises a steering wheel steering shaft sensor, an accelerator sensor, a first brake pad sensor, a second brake pad sensor, a safety belt sensor and a switch sensor;

the steering wheel steering shaft sensor is arranged in a steering shaft of the steering wheel and is used for acquiring the steering direction and angle information of the steering wheel;

the accelerator sensor is arranged on the accelerator and used for collecting opening information of the accelerator;

the first brake pad sensor is arranged on the first brake pad and used for collecting the on-off information of the first brake pad;

the second brake pad sensor is arranged on the second brake pad and used for acquiring the opening information of the second brake pad;

the safety belt sensor is arranged on a buckle of the safety belt and used for acquiring the on-off information of the safety belt;

the switch sensor is arranged in the switch and used for collecting the on-off information of the switch;

the steering wheel steering shaft sensor, the throttle sensor, the first brake pad sensor, the second brake pad sensor, the safety belt sensor and the switch sensor are respectively electrically connected with the seat control device.

In an alternative embodiment, the system further comprises:

a first lever sensor, a second lever sensor, and a third lever sensor;

the first operating rod sensor is arranged at one end of the first operating rod connected with the operating platform and used for acquiring position change information of the first operating rod;

the second operating rod sensor is arranged at one end of the second operating rod connected with the operating platform and used for acquiring position change information of the second operating rod;

the third operating rod sensor is arranged at one end of the third operating rod connected with the operating platform and used for acquiring position change information of the third operating rod;

the first lever sensor, the second lever sensor, and the third lever sensor are electrically connected to the seat control device, respectively.

In an alternative embodiment, the system further comprises:

a first shift lever sensor and a second shift lever sensor;

the first driving lever sensor is arranged at one end of the first driving lever connected with the steering wheel and used for collecting position change information of the first driving lever;

the second driving lever sensor is arranged at one end, connected with the steering wheel, of the second driving lever and is used for collecting position change information of the second driving lever;

the first shift lever sensor and the second shift lever sensor are electrically connected to the seat control device, respectively.

In an alternative embodiment, the system further comprises:

virtual reality glasses calibration equipment in communication connection with the system control device;

the virtual reality glasses are internally provided with gyroscopes for acquiring angle movement information of the virtual reality glasses;

the virtual reality glasses are specifically used for displaying corresponding virtual pictures in the visual field area of the virtual reality glasses according to data collected by the steering wheel steering shaft sensor, the throttle sensor, the first brake pad sensor, the second brake pad sensor, the safety belt sensor, the switch sensor, the first operating lever sensor, the second operating lever sensor, the third operating lever sensor, the first deflector rod sensor and the second deflector rod sensor;

virtual reality glasses calibration equipment set up in one side of three degrees of freedom seats, virtual reality glasses calibration equipment includes: virtual reality glasses grooves and calibration keys;

the virtual reality glasses recess is used for placing the virtual reality glasses, the calibration button is used for responding to the operation that the user pressed the button, to system control device sends the key signal.

In an alternative embodiment, the system further comprises: a display;

the display is arranged on the operating table and is in communication connection with the system control device;

the display is used for displaying the picture of the virtual reality glasses visual field display area.

In an alternative embodiment, the base comprises: the wheel-type vehicle seat comprises a base surface and a base bottom surface, wherein wheels are arranged on the base bottom surface.

The utility model provides a fork truck simulation driving system's beneficial effect is:

adopt the fork truck simulation driving system that this application provided, can be according to the different road conditions in the virtual scene, make different flexible actions through setting up first linear drive member and the second linear drive member in the seat below, drive and move the platform and remove, make the driver experience in the real feedback of jolting of driving the in-process, more experience fork truck's state change for true, the reinforcing is experienced the effect.

In addition, the sensors are arranged on the operating table, the seat and the operating components arranged on the base, and can accurately acquire various operating actions of the driver and transmit the operating actions to the system control unit in real time, so that the various operating actions of the driver can be fed back to the virtual picture in real time, and the real scene and the virtual scene are synchronized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on these drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a forklift simulated driving system provided by an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a three-degree-of-freedom seat according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a three-degree-of-freedom seat according to an embodiment of the present invention;

fig. 4 is another schematic structural diagram of a three-degree-of-freedom seat according to an embodiment of the present invention;

fig. 5 is another schematic structural diagram of a forklift simulated driving system provided by an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a forklift simulated driving system provided by an embodiment of the present invention;

fig. 7 is another schematic structural diagram of the forklift simulated driving system provided by the embodiment of the present invention.

An icon: 101-a base; 102-three degree of freedom seat; 1021-a stationary platen; 1022-a moving platform; 1023-a fixed support wire rod; 1024 — a first linear drive rod; 1024 a-first gimbal; 1024b — first electric cylinder; 1024 c-a first fixed pin; 1025-a second linear drive rod; 1025 a-a second gimbal; 1025 b-a second electric cylinder; 1025 c-a second fixed pin; 103-an operation table; 104-a seat control device; 105-virtual reality glasses; 106-system control means; 107-switch; 108-a first toggle lever; 109-a second deflector rod; 110-a steering wheel; 111-a first lever; 112-a second lever; 113-a third lever; 114-a seat belt; 115-throttle; 116-a first brake pad; 117-second brake pad; 118-a steering wheel steering shaft sensor; 119-a throttle sensor; 120-a first brake pad sensor; 121-a second brake pad sensor; 122-seat belt sensor; 123-a switch sensor; 124-a first lever sensor; 125-a second lever sensor; 126-a third lever sensor; 127-a first stick sensor; 128-a second stick sensor; 129-virtual reality glasses calibration equipment; 1291-virtual reality glasses groove; 1292-calibrate key; 130-a display; 131-wheel.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the attached drawings in the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or orientations or positional relationships that are conventionally placed when the products of the present invention are used, or orientations or positional relationships that are conventionally understood by those skilled in the art, and are merely for convenience of description of the present invention and for simplicity of description, and do not indicate or imply that the equipment or components that are referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

Fork truck is the vehicle that is used for the transport of transport and the transportation of goods in the commodity circulation trade of wide application. However, the forklift has certain dangerousness, and as drivers mostly perform zero-base operation during training, safety accidents may occur, so that great potential safety hazards are caused. Therefore, it is necessary to develop a forklift simulation training driving system.

At present, a forklift driving system displays a simulated picture through a display to feed back the operation of a user, but the feedback is only limited to the feedback on the visual effect, the real feedback of driving a seat under a specific operation environment cannot be simulated, and the simulation effect is limited.

Based on this, the applicant provides a fork truck simulation driving system through the research, can make different flexible actions through setting up first linear drive member and the second linear drive member in the seat below according to the road conditions of difference in the virtual scene, drives and moves the platform and remove, makes the driver experience the feedback of really jolting in the driving process, more really experiences fork truck's state change, reinforcing experience effect.

The utility model provides a fork truck simulation system of driving, below, do detailed description to the work flow of this system.

When the forklift simulation driving system is in standby, a driver turns on a switch and fastens a safety belt, the switch sensor and the safety belt sensor send collected switch turn-on signals and safety belt fastening signals to the seat control device, and the seat control device collects the signals and sends the signals to the system control device in real time through a preset communication protocol. The system control device starts the display and the virtual reality glasses connected with the system control device, and sends the starting picture to the virtual reality glasses for display.

If the driver places the virtual reality glasses in the virtual reality glasses groove at the moment and presses the calibration key, the virtual reality glasses calibration equipment sends a calibration signal to the system control device connected with the virtual reality glasses calibration equipment, and the system control device sends the picture corresponding to the visual angle of the virtual reality glasses to the virtual reality glasses and the display at the moment and displays the picture according to the calibration signal.

The driver operates the operating element on the fork truck simulation driving system according to the road conditions of virtual scene, includes: the system comprises a first deflector rod, a second deflector rod, a steering wheel, a first operating rod, a second operating rod, a third operating rod, an accelerator, a first brake pad and a second brake pad, wherein a first deflector rod sensor, a second deflector rod sensor, a steering wheel sensor, a first operating rod sensor, a second operating rod sensor, a third operating rod sensor, an accelerator sensor, a first brake pad sensor and a second brake pad sensor which are arranged on the operating components respectively collect operating information of the operating components and send the operating information to a seat control device, the seat control device sends the operating information to a system control device, the system control device generates virtual pictures according to the operating information and sends the virtual pictures to virtual reality glasses and a display to be displayed, the system control device also generates corresponding control instructions according to the operating information, road conditions in a virtual scene and the conditions of a forklift, such as forward turning, side tilting, sudden stop and the like, the seat control device controls the first electric cylinder and the second electric cylinder which are fixed on the first linear driving rod piece and the second linear driving rod piece on the static platform to perform telescopic motion according to the instruction, and when the telescopic lengths of the electric cylinders are different, the movable platform can realize height difference in the vertical direction around a universal joint connected with a fixed supporting wire rod, so that the effect of vertically bumping the three-freedom-degree seat above the movable platform is achieved.

The utility model provides a fork truck simulation system of driving please refer to fig. 1, and this system includes: the three-degree-of-freedom seat control system comprises a base 101, a three-degree-of-freedom seat 102, an operation table 103, a seat control device 104, virtual reality glasses 105 and a system control device 106, wherein the virtual reality glasses 105 and the seat control device 104 are electrically connected with the system control device 106 respectively.

Alternatively, the three-degree-of-freedom seat 102 is disposed at one end of the surface of the base 101, the console 103 is disposed at the other end of the surface of the base 101, and the seat control device 104 is disposed inside the base 101.

The base 101 is a platform as a supporting member, and may be a steel plate or other hard material plate. An operation table 103 is provided at one end on the surface of the base 101, and may be a plastic or metal platform as a carrier for various operation parts. The other end of the surface of the base 101 is provided with a three-degree-of-freedom seat 102 facing the console 103, and the driver can sit on the three-degree-of-freedom seat 102 and operate the console 103.

In a real forklift, a counter weight is provided on the base 101. In the embodiment of the present application, the counterweight on the upper portion of the base 101 is removed, a modeling box body conforming to the shape of the counterweight is provided, the seat control device 104 is placed inside the box body, and the seat control device 104 and the virtual reality glasses 105 are electrically connected with the system control device 106, which may be through a wired line, for example, a network cable, and the present application is not limited herein.

The seat control device 104 and the system control device 106 may be digital electronic devices with computing and processing functions, which are not limited herein.

Alternatively, as shown in fig. 2, the three-degree-of-freedom seat 102 includes: the seat control device 104 is electrically connected with the first linear driving rod 1024 and the second linear driving rod 1025 respectively, and the first linear driving rod 1024 and the second linear driving rod 1025 drive the movable platform 1022 to move.

The static platform 1021 is arranged at one side close to the base 101 and is used as a fixed end for fixing and supporting the wire rods 1023, the first linear driving rod member 1024 and the second linear driving rod member 1025, the movable platform 1022 is arranged at one side close to a driver, the first linear driving rod member 1024, the second linear driving rod member 1025 and the fixed and supporting wire rods 1023 are fixed on the static platform 1021 to form a three-degree-of-freedom platform, and the three-degree-of-freedom platform is driven by the first linear driving rod member 1024 and the second linear driving rod member 1025 to move in a telescopic manner.

The first linear driving link 1024 and the second linear driving link 1025 can be an electric cylinder, a hydraulic cylinder, or an air cylinder, but not limited thereto. The first linear driving link 1024 and the second linear driving link 1025 can each include a servo motor and a screw rod, and after receiving a seat control command input by the seat control device 104 electrically connected thereto, the servo motor rotates to drive the screw rod to extend and retract, and push the movable platform 1022 to move up and down.

Alternatively, the fixed supporting wire rod 1023 may be a wire rod for fixing and supporting between the movable platform 1022 and the stationary platform 1021, or may be a component such as an electric cylinder, a hydraulic cylinder, or an air cylinder, which is the same as the first linear driving rod member 1024 and the second linear driving rod member 1025, and the application is not limited herein.

The system control device 106 is configured to provide a virtual screen to the virtual reality glasses 105, and the virtual reality glasses 105 are configured to display the virtual screen.

The seat control device 104 integrates various operations such as starting and stepping on the accelerator by the user on the console 103, and transmits the integrated operation to the system control device 106. The system control device 106 generates a corresponding virtual picture according to the operation data sent by the seat control device 104 and sends the virtual picture to the virtual reality glasses 105 for display, and meanwhile, according to various road conditions encountered by a driver in the operation process in a virtual scene, the seat control device 104 is driven to control the first linear driving rod 1024 and the second linear driving rod 1025 to move up and down, so that the seat on the movable platform 1022 is driven to move, and synchronous real-time feedback on vision and somatosensory is provided for different operations of the driver.

In this embodiment, can make different flexible actions through setting up first linear drive member and the second linear drive member in the seat below according to different road conditions in the virtual scene, drive and move the platform and remove, make the driver experience the real feedback of jolting in driving process, more really experience the state change of fork truck, the reinforcing experience effect.

Alternatively, as shown in fig. 3, the first linear drive link 1024 includes: a first universal joint 1024a, a first electric cylinder 1024b, and a first fixed pin 1024 c. The first electric cylinder 1024b is connected to the movable platform 1022 through a first universal joint 1024a, and the first electric cylinder 1024b is connected to the stationary platform 1021 through a first fixed pin 1024 c.

The second linear drive link 1025 comprises: a second universal joint 1025a, a second electric cylinder 1025b and a second fixed pin 1025 c. The second electric cylinder 1025b is connected to the moving platform 1022 through a second universal joint 1025a, and the second electric cylinder 1025b is connected to the stationary platform 1021 through a second fixed pin 1025 c.

Optionally, one end of the fixed support wire rod 1023 is fixedly connected to the stationary platform 1021, and the other end is connected to the movable platform 1022 through a universal joint.

The first linear driving rod 1024 and the second linear driving rod 1025 receive the seat control command inputted by the seat control device 104, and control the first electric cylinder 1024b and the second electric cylinder 1025b to extend and retract in different lengths. One end of the first electric cylinder 1024b is fixed on the static platform 1021 through a first fixed pin 1024c, the other end of the first electric cylinder 1024b is fixed with the bottom surface of the movable platform 1022 through a first universal joint 1024a, one end of the second electric cylinder 1025b is fixed on the static platform 1021 through a second fixed pin 1025c, and the other end of the second electric cylinder 1025b is fixed with the bottom surface of the movable platform 1022 through a second universal joint 1025 a. Thus, when the first electric cylinder 1024b and the second electric cylinder 1025b have different extension lengths, the movable platform 1022 can realize a vertical drop around the universal joint connected to the fixed support wire rod 1023, and the three-degree-of-freedom seat 102 above the movable platform 1022 can bump up and down.

The first universal joint 1024a and the second universal joint 1025a may be a bulls-eye universal joint, a cross rigid universal joint, a flexible universal joint, or the like, which is not limited herein.

Alternatively, the fixed positions of the fixed support wire rod 1023, the first linear driving rod member 1024 and the second linear driving rod member 1025 on the stationary platform 1021 are shown in fig. 4, and one end of the fixed support wire rod 1023, the first fixed pin shaft 1024c and the second fixed pin shaft 1025c are arranged in an equilateral triangle.

In this embodiment, first linear drive member and second linear drive member pass through first universal joint and second universal joint and move the platform and be connected to utilize the flexible drive of electronic jar to move the platform and remove, realized nimble, accurate control and moved the angle and the dynamics of jolting of platform, make the driver on the seat can really experience driving state, reinforcing experience effect. In addition, fixed support line pole, first linear drive member and second linear drive member are equilateral triangle and arrange on quiet platform, also can make when first linear drive member and second linear drive member stretch out and draw back, and the structure is more stable, move the atress of platform when jolting more evenly.

Optionally, as shown in fig. 5, the operation table is provided with: a switch 107, a first lever 108, a second lever 109, a steering wheel 110, a first operating lever 111, a second operating lever 112, and a third operating lever 113.

The switch 107 may be an ignition switch on the forklift, and is a device for connecting or disconnecting each electrically connected line on the forklift.

The first dial 108 may be a steering dial, and is used for adjusting the corresponding change of the light when the forklift turns left or right in the virtual scene. The second lever 109 may be a gear lever, and is used for the driver to switch gears as needed when the forklift runs in the virtual scene.

The steering wheel 110 may be a steering wheel assembly including a horn, a universal wheel, and the like, for controlling the direction of movement of the forklift in the virtual scene.

The first operation rod 111 may be a mast angle adjustment operation rod for adjusting an upward tilting or downward tilting angle of a mast of a forklift in a virtual scene. The second lever 112 may be a fork lift lever for adjusting the raising or lowering of the forks of a forklift in a virtual scene. The third lever 113 may be a fork left and right movement lever for adjusting left or right movement of the fork in the virtual scene.

Optionally, the three-degree-of-freedom seat 102 is further provided with: a seat belt 114.

The safety belt 114 is a safety member disposed on the three-degree-of-freedom seat 102, and may be composed of a nylon webbing and a metal buckle, and is used to fix the driver on the three-degree-of-freedom seat 102 when the driver drives the forklift to drive in the virtual scene.

The surface of the base 101 is further provided with: a throttle 115, a first brake pad 116, and a second brake pad 117.

The throttle 115 is a forklift propulsion device for controlling the speed of the forklift in the virtual scene. The first brake pad 116 may be a hand brake or a parking brake, and optionally, a hand brake button is arranged on the top end of the first brake pad 116, and when the forklift is stationary, the hand brake button is pushed forward to finish the braking state of the forklift. The second brake pad 117 may be a service brake or a service brake for braking when the forklift is travelling in the virtual scene.

Optionally, the first lever 108 and the second lever 109 are respectively disposed on the steering wheel.

The first lever 108 and the second lever 109 may be disposed on a steering shaft at a lower portion of the steering wheel.

It should be understood that the schematic diagram of the arrangement positions of the above-mentioned operation components shown in fig. 5 is only a reference embodiment, and is not limited thereto.

In this embodiment, a reference embodiment of the position setting of the operation component of the forklift is shown, and the operation component the same as that of the real forklift is arranged on the forklift of the forklift simulation driving system, so that a driver can obtain the same driving experience as that of operating the real forklift, and the experience effect is enhanced.

Optionally, as shown in fig. 6, the system for simulating driving of a forklift truck provided in the embodiment of the present application further includes:

a steering wheel shaft sensor 118, a throttle sensor 119, a first brake pad sensor 120, a second brake pad sensor 121, a seatbelt sensor 122, and a switch sensor 123.

The steering wheel/shaft sensor 118 is disposed in a steering shaft of the steering wheel 110, and is configured to collect steering direction and angle information of the steering wheel 110.

The steering wheel shaft sensor 118 may be an electro-optical sensor or a mechanical sensor, and collects the steering direction and angle information of the corresponding steering wheel 110 when the driver turns the steering wheel 110.

The accelerator sensor 119 is disposed on the accelerator 115, and is configured to collect opening information of the accelerator 115.

The accelerator sensor 119 may be a circuit module formed by a group of hall elements facing back to back, a pair of strong magnets may be further disposed on two sides of the group of hall elements, and when the driver steps on the accelerator 115, the accelerator 115 drives the hall elements to pass through a magnetic field formed by the strong magnets, so that a magnetic flux in the magnetic field changes and is reflected as a change in voltage, and thus, opening information of the accelerator 115 is acquired according to a preset correspondence between the voltage and the opening of the accelerator 115.

The first brake pad sensor 120 is disposed on the first brake pad 116 for collecting opening information of the first brake pad 116, and the second brake pad sensor 121 is disposed on the second brake pad 117 for collecting opening information of the second brake pad 117.

The first brake pad sensor 120 may be a hand brake sensor, and may be a device provided on an electronic hand brake for detecting whether the first brake pad 116 is turned on or off. The second brake pad sensor 121 may be a service brake sensor, and may be an electronic circuit module having information for detecting the opening degree of the second brake pad 117.

The seat belt sensor 122 is disposed on a buckle of the seat belt 114, and is configured to collect information about the opening and closing of the seat belt 114.

The seat belt sensor 122 may be an electronic switch disposed on or in the buckle of the seat belt 114 that senses the closing of the seat belt 114 when the driver buckles the seat belt 114 into the buckle.

The switch sensor 123 is disposed in the switch 107 and is configured to collect information about the opening and closing of the switch 107.

The switch sensor 123 may be a magnetic induction sensor or a hall sensor, and when the driver inserts a key into the switch 107 and starts the rotation, the switch sensor 123 can acquire an on signal of the switch 107.

The steering wheel shaft sensor 118, the throttle sensor 119, the first brake pad sensor 120, the second brake pad sensor 121, the seatbelt sensor 122, and the switch sensor 123 are electrically connected to the seat control device 104, respectively.

The information collected by the sensors is sent to the seat control device 104 in real time, and the seat control device 104 sends the information to the system control device 106 according to a preset communication protocol.

With continuing reference to fig. 6, optionally, the system provided in this embodiment further includes:

a first lever sensor 124, a second lever sensor 125, and a third lever sensor 126.

The first lever sensor 124 is disposed at one end of the first lever 111 connected to the console 103, and is configured to collect position change information of the first lever 111. The second lever sensor 125 is disposed at one end of the second lever 112 connected to the console 103, and is configured to collect position change information of the second lever 112. The third lever sensor 126 is disposed at one end of the third lever 113 connected to the console 103, and is configured to collect position change information of the third lever 113.

The first lever sensor 124 may be a mast angle adjustment lever sensor, the second lever sensor 125 may be a fork lift lever sensor, and the third lever sensor 126 may be a fork left and right lever sensor. The sensors may be electronic torque sensors, and when the driver operates the first operating lever 111, the second operating lever 112, and the third operating lever 113 to move, the driver may acquire moving distance information with respect to an initial position, and convert the information into an electric signal to transmit the signal.

The first lever sensor 124, the second lever sensor 125, and the third lever sensor 126 are electrically connected to the seat control device 104, respectively.

The first lever sensor 124, the second lever sensor 125, and the third lever sensor 126 respectively transmit the acquired electric signals corresponding to the movement positions of the respective levers to the seat control device 104, and the seat control device 104 transmits the electric signals to the system control device 106 according to a preset communication protocol.

Optionally, with continued reference to fig. 6, a first stick sensor 127 and a second stick sensor 128.

The first shifter lever sensor 127 is disposed at an end of the first shifter lever 108 connected to the steering wheel 110, and is configured to collect position change information of the first shifter lever 108. The second lever sensor 128 is disposed at an end of the second lever 109 connected to the steering wheel 110, and is configured to collect position change information of the second lever 109.

The first stick sensor 127 may be a steering stick sensor, and the second stick sensor 128 may be a shift stick sensor. The sensors may be electronic torque sensors, and when the driver operates the first stick 108 and the second stick 109, the driver may acquire the moving distance information of each stick with respect to the initial position, and convert the information into an electric signal to send the signal.

The first paddle sensor 127 and the second paddle sensor 128 are electrically connected to the seat control device 104, respectively.

The first toggle lever sensor 127 and the second toggle lever sensor 128 respectively transmit the acquired electrical signals corresponding to the shift positions of the respective toggle levers to the seat control device 104, and the seat control device 104 transmits the electrical signals to the system control device 106 according to a predetermined communication protocol.

In this embodiment, through setting up each sensor on steering wheel, throttle, first brake block, second brake block, safety belt and switch, real-time, accurate collection has transmitted the driver and has driven the fork truck various operations of going on in virtual scene to by the feedback of system control device to in the picture of virtual reality glasses, can make the picture that the driver saw with make the operation synchronous, give the driver more real visual feedback.

Optionally, as shown in fig. 6, the forklift simulated driving system further includes: a virtual reality glasses calibration apparatus 129 communicatively connected to the system control 106.

The virtual reality glasses calibration device 129 may be a plastic or metal molding box, and is electrically connected to the system control device 106 through a communication line, for example, a network cable.

The virtual reality glasses 105 are provided with a gyroscope for acquiring angular movement information of the virtual reality glasses 105.

Wherein, the gyroscope in the virtual reality glasses 105 can be a device composed of a gyroscope part and a power supply part, the gyroscope body is lifted by silk threads in the gyroscope device to enable the rotating shaft to be horizontal, the motion state of the virtual reality glasses is recorded, when the virtual reality glasses 105 move, the gyroscope body generates time-lapse motion in the device, at the moment, according to the roll angle, the pitch angle and the yaw angle of the gyroscope, the current position of the virtual reality glasses 105 can be obtained through calculation, and the system control device 106 sends the virtual picture corresponding to the current position to the virtual reality glasses 105 for display.

The virtual reality glasses 105 are specifically configured to display corresponding virtual pictures in a visual field area of the virtual reality glasses 105 according to data collected by the steering wheel steering shaft sensor 118, the throttle sensor 119, the first brake pad sensor 120, the second brake pad sensor 121, the seat belt sensor 122, the switch sensor 123, the first lever sensor 124, the second lever sensor 125, the third lever sensor 126, the first stick sensor 127, and the second stick sensor 128.

The seat control device 104 collects the real-time signals collected by the sensors and sends the real-time signals to the system control device 106, the system control device 106 can generate virtual pictures corresponding to the operation according to the operation corresponding to the real-time signals collected by the sensors and send the virtual pictures to the virtual reality glasses 105, and the virtual reality glasses 105 display the received virtual pictures in a visual field area, so that the operation of a driver and the synchronization of the virtual pictures are realized.

The virtual reality glasses calibration apparatus 129 is disposed on one side of the three-degree-of-freedom seat 102, and the virtual reality glasses calibration apparatus 129 includes: virtual reality glasses recess 1291 and calibration keys 1292. The virtual reality glasses recess 1291 is used to place the virtual reality glasses 105, and the calibration key 1292 is used to send a key signal to the system control 106 in response to the user depressing the calibration key 1292.

As shown in the dotted line of fig. 6, the virtual reality glasses calibration apparatus 129 may be disposed on one side of the three-degree-of-freedom seat 102 for the driver to take, or may be disposed under the console 103, which is not limited to this. One side of the virtual reality glasses calibration device 129 is a structure capable of fixing the virtual reality glasses 105 at a preset angle, the calibration key 1292 may be a mechanical key or an electronic key that can be triggered by up and down movement, when the calibration key 1292 is pressed, the virtual reality glasses calibration device 129 sends a key signal to the system control device 106, after the system control device 106 receives the key signal, a preset initial picture is sent to the virtual reality glasses 105, and the preset initial picture corresponds to a picture of a corresponding viewing angle when the current virtual reality glasses 105 are placed in the virtual reality glasses groove 1291.

In this embodiment, through virtual reality glasses calibration equipment and system control device, can adjust the visual angle of virtual reality glasses to initial visual angle, can avoid the overlength of live time, the condition that the accumulative error of gyroscope makes the visual angle of virtual reality glasses inconsistent with current real fork truck visual angle promotes driver and uses experience.

Optionally, as shown in fig. 6, the system for simulating driving of a forklift further includes: a display 130, the display 130 being provided on the console 103 and being connected to the system control device 106 in a communication manner, the display 130 being used for displaying a screen of a visual field display area of the virtual reality glasses 105.

The display 130 may be a CRT (Cathode Ray Tube) display or an LCD (Thin Film Transistor Liquid Crystal) display, but is not limited thereto.

When transmitting the virtual screen to the virtual glasses 105, the system control device 106 also transmits the virtual screen to the display 130 to display the virtual screen, and the screen of the display 130 and the screen of the virtual glasses 105 are synchronized.

In this embodiment, by setting the display, the virtual pictures in the virtual display glasses are synchronously displayed, so that people other than the driver can see the operated pictures, thereby facilitating teaching and demonstration.

Alternatively, as shown in fig. 7, the base 101 includes: a base surface and a base bottom surface on which wheels 131 are provided.

The wheel 131 that sets up on the base can be the same wheel with former fork truck, also can be the rubber wheel, and this application does not do the restriction here.

In this embodiment, through set up the wheel in fork truck bottom for this fork truck can realize removing convenient to use and shift through promoting.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. The utility model provides a fork truck simulation driving system which characterized in that, fork truck simulation driving system includes: the system comprises a base, a three-degree-of-freedom seat, an operating platform, a seat control device, virtual reality glasses and a system control device;

the virtual reality glasses and the seat control device are respectively electrically connected with the system control device;

the three-degree-of-freedom seat is arranged at one end of the surface of the base, the operating platform is arranged at the other end of the surface of the base, and the seat control device is arranged in the base;

the three-degree-of-freedom seat comprises: the seat control device is electrically connected with the first linear driving rod piece and the second linear driving rod piece respectively, and the first linear driving rod piece and the second linear driving rod piece drive the movable platform to move;

the system control device is used for providing virtual pictures for the virtual reality glasses, and the virtual reality glasses are used for displaying the virtual pictures.

2. The simulated steering system of a forklift truck of claim 1, wherein the first linear drive link comprises: the first universal joint, the first electric cylinder and the first fixed pin shaft are arranged on the first universal joint;

the first electric cylinder is connected with the movable platform through the first universal joint, and the first electric cylinder is connected with the static platform through the first fixed pin shaft;

the second linear drive link includes: the second universal joint, the second electric cylinder and the second fixed pin shaft are arranged on the second universal joint;

the second electric cylinder is connected with the movable platform through the second universal joint, and the second electric cylinder is connected with the static platform through the second fixed pin shaft.

3. The forklift truck simulated driving system of claim 1, wherein the operating floor is provided with: the steering wheel comprises a switch, a first driving lever, a second driving lever, a steering wheel, a first operating rod, a second operating rod and a third operating rod;

the three-degree-of-freedom seat is also provided with: a seat belt;

the base surface is further provided with: the accelerator, the first brake pad and the second brake pad;

the first deflector rod and the second deflector rod are respectively arranged on the steering wheel.

4. The forklift simulated driving system of claim 3, said system further comprising:

the device comprises a steering wheel steering shaft sensor, an accelerator sensor, a first brake pad sensor, a second brake pad sensor, a safety belt sensor and a switch sensor;

the steering wheel steering shaft sensor is arranged in a steering shaft of the steering wheel and is used for acquiring the steering direction and angle information of the steering wheel;

the accelerator sensor is arranged on the accelerator and used for acquiring the opening information of the accelerator;

the first brake pad sensor is arranged on the first brake pad and used for acquiring the on-off information of the first brake pad;

the second brake pad sensor is arranged on the second brake pad and used for acquiring the opening information of the second brake pad;

the safety belt sensor is arranged on a buckle of the safety belt and used for acquiring the on-off information of the safety belt;

the switch sensor is arranged in the switch and used for collecting the on-off information of the switch;

the steering wheel steering shaft sensor, the throttle sensor, the first brake pad sensor, the second brake pad sensor, the safety belt sensor and the switch sensor are respectively electrically connected with the seat control device.

5. The forklift simulated driving system of claim 4, said system further comprising:

a first lever sensor, a second lever sensor, and a third lever sensor;

the first operating rod sensor is arranged at one end of the first operating rod connected with the operating platform and used for acquiring position change information of the first operating rod;

the second operating rod sensor is arranged at one end of the second operating rod connected with the operating platform and used for acquiring position change information of the second operating rod;

the third operating rod sensor is arranged at one end of the third operating rod connected with the operating platform and used for acquiring position change information of the third operating rod;

the first lever sensor, the second lever sensor, and the third lever sensor are electrically connected to the seat control device, respectively.

6. The forklift simulated driving system of claim 5, said system further comprising:

a first shift lever sensor and a second shift lever sensor;

the first driving lever sensor is arranged at one end of the first driving lever connected with the steering wheel and used for collecting position change information of the first driving lever;

the second driving lever sensor is arranged at one end, connected with the steering wheel, of the second driving lever and is used for collecting position change information of the second driving lever;

the first deflector rod sensor and the second deflector rod sensor are respectively electrically connected with the seat control device.

7. The forklift simulated driving system of claim 6, said system further comprising:

virtual reality glasses calibration equipment in communication connection with the system control device;

the virtual reality glasses are internally provided with gyroscopes for acquiring angle movement information of the virtual reality glasses;

the virtual reality glasses are specifically used for displaying corresponding virtual pictures in the visual field area of the virtual reality glasses according to data collected by the steering wheel steering shaft sensor, the throttle sensor, the first brake pad sensor, the second brake pad sensor, the safety belt sensor, the switch sensor, the first operating lever sensor, the second operating lever sensor, the third operating lever sensor, the first deflector rod sensor and the second deflector rod sensor;

virtual reality glasses calibration equipment set up in one side of three degrees of freedom seats, virtual reality glasses calibration equipment includes: virtual reality glasses grooves and calibration keys;

the virtual reality glasses groove is used for placing the virtual reality glasses, and the calibration key is used for responding to the operation that a user presses down the key and sending a key signal to the system control device.

8. The simulated steering system of a forklift truck according to any one of claims 1 to 6, wherein the system further comprises: a display;

the display is arranged on the operating table and is in communication connection with the system control device;

the display is used for displaying the picture of the virtual reality glasses visual field display area.

9. The simulated steering system of a forklift truck according to any one of claims 1 to 6, wherein the base comprises: the wheel-mounted vehicle seat comprises a base surface and a base bottom surface, wherein wheels are arranged on the base bottom surface.

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