EP2920779A2 - Procédé et dispositif de simulation et de commande combinées de véhicules télécommandés - Google Patents

Procédé et dispositif de simulation et de commande combinées de véhicules télécommandés

Info

Publication number
EP2920779A2
EP2920779A2 EP13828764.4A EP13828764A EP2920779A2 EP 2920779 A2 EP2920779 A2 EP 2920779A2 EP 13828764 A EP13828764 A EP 13828764A EP 2920779 A2 EP2920779 A2 EP 2920779A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
simulator
data
user
controlled
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP13828764.4A
Other languages
German (de)
English (en)
Inventor
Olaf GÜHRING
Holger Schmidt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Grenzebach Maschinenbau GmbH
Original Assignee
Grenzebach Maschinenbau GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Grenzebach Maschinenbau GmbH filed Critical Grenzebach Maschinenbau GmbH
Publication of EP2920779A2 publication Critical patent/EP2920779A2/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with signals other than visual, e.g. acoustic, haptic
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/30—Simulation of view from aircraft
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/48—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer a model being viewed and manoeuvred from a remote point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Definitions

  • the invention relates to a method and a device for combined
  • Flight simulators or vehicle simulators increase safety and reduce the cost of training for a real flight.
  • the safety aspects are improved when inexperienced students learn to fly or when less experienced pilots are instructed in operations related to new vehicles or new techniques.
  • the device described there, or the corresponding method is based on the object of presenting a device and a method with which the operation of a simulator with a special realism impression for mastering the control of a vehicle moving in three-dimensional reality, in particular of an aircraft, can be achieved.
  • teachers should also be able to objectively supervise the learning progress and the level of stress of the student accompanying the learning process.
  • a device for operating a simulator with a special realism - appearance to learn the mastery of a moving in the three-dimensional reality vehicle claimed, wherein the simulated aircraft to be simulated
  • a support device which may be designed as a chassis connected to the ground, and wherein for the transmission of a simulated exterior view of the contours of the vehicle cabin replicated display is used.
  • This device is characterized by having the following features: a) the vehicle cabin (4) is in addition to the connection with the 6 - axis industrial robot (1) via a device (6) for translational transverse movement, which is mounted on a device (5) for translational longitudinal movement movable at right angles, with connected to the ground, allowing combined accelerated movements of the two devices (6,5), regardless of the movements of the
  • An autonomous safety system for the use of vehicle simulators or flight simulators in the form of a simulation pulpit (3) actuated by means of a 6 - axis robot comprising the following features: a) one, open only to authorized persons, multiple at all
  • a rescue unit (13) movable on a running track (14) to any location in the operating area of the vehicle simulator, comprising a rescue platform (25), a railing (24) and a safety platform
  • the operating data transmitted to the vehicle cabin for the respective simulation operation are different from the operating data even in the case of a very realistic appearance, as occurs in the case of a real operation of a vehicle.
  • a real pilot with his human senses consciously or unconsciously detects far more than is normally simulated in a vehicle cabin. This becomes particularly clear in cases in which autonomous missiles, known as drones, are controlled by pilots who actually cause real maneuvers.
  • the present invention is therefore based on the object of presenting an apparatus and a method for simulating vehicle movements, with which the degree of the reality impression clearly increases, especially in the case of actually occurring vehicle movements, for the respective pilot.
  • remotely controlled vehicles in a simulator with one to
  • Ground is connected, and wherein to transmit a simulated
  • a sensor unit installed in the head area of the user for detecting the head position, the data of which is the viewing direction and / or the image perspective displayed on the display
  • control can be used for vehicles on land, sea and in the air.
  • a receiving unit for receiving olfactory and / or flavor-specific data. or a corresponding method according to claim 4
  • remotely controlled vehicles in a simulator with one to
  • Ground is connected, and wherein to transmit a simulated
  • the user of the simulator is to be controlled by the user
  • Vehicle current determined by sensors, data from the
  • the mode of the reaction of the user of the simulator is converted into mechanically removed signals, processed by mathematical models, transmitted to the vehicle to be controlled and converted into real control operations
  • d) installed in the head of the user sensor unit is to detect the head position provided, the data of which influence the display direction and / or the image perspective displayed on the display.
  • control can be used for vehicles on land, sea and in the air.
  • taste-specific data from the vehicle is provided.
  • the invention is based on the idea to enable the user of the simulator by transmitting important data from a real moving vehicle in a position to feel as if he were actually the pilot of the respective vehicle.
  • Simulator arranged transmitting station quasi bidirectional way to the missile to be sent.
  • Such movement-relevant data are generated by means of mechanical signals which the user of the simulator generates by means of conventionally actuated pedals or sidesticks, and which are sent to the control organs of the respective vehicle by means of suitable mathematical models or operations, prepared.
  • the timely and correct generation of these signals reflects the
  • the data sent by the vehicle to be controlled which have the optical, acoustic or situational character, only need a bidirectional one As this way, this type of data may be requested at certain intervals or consistently.
  • a sensor unit installed in the head area of the user is provided for detecting the head position, the data of which on the display or the
  • Projection screen displayed viewing direction and / or the picture perspective

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Dispositif et procédé de simulation et de commande combinées de véhicules télécommandés dans un simulateur. Une cabine de pilotage correspondant au véhicule à commander est pourvue d'un robot industriel à 6 axes fixé au sol par l'intermédiaire d'un dispositif de support qui peut être conçu sous forme de train de roulement, et un écran d'affichage correspondant aux contours de la cabine de pilotage est destiné à reproduire une vue extérieure simulée. Ledit dispositif est caractérisé en ce qu'il comporte les éléments suivants : a) une unité réceptrice destinée à recevoir des données optiques du véhicule à commander, b) une unité réceptrice destinée à recevoir des données acoustiques du véhicule à commander, c) une unité émettrice-réceptrice pour la transmission bidirectionnelle de données de mouvement, d) une unité de commande qui met en forme les signaux produits mécaniquement par l'utilisateur du simulateur, au moyen de modèles mathématiques, et transmet lesdits signaux aux organes de commande du véhicule, et e) une unité de détection installée dans la zone de la tête de l'utilisateur pour détecter la position de la tête, qui produit des données influençant la direction de vision affichée sur l'écran et/ou la perspective de l'image.
EP13828764.4A 2012-11-16 2013-11-11 Procédé et dispositif de simulation et de commande combinées de véhicules télécommandés Ceased EP2920779A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012022472.9A DE102012022472A1 (de) 2012-11-16 2012-11-16 Verfahren und Vorrichtung zum kombinierten Simulieren und Steuern ferngesteuerter Fahrzeuge
PCT/DE2013/000674 WO2014075655A2 (fr) 2012-11-16 2013-11-11 Procédé et dispositif de simulation et de commande combinées de véhicules télécommandés

Publications (1)

Publication Number Publication Date
EP2920779A2 true EP2920779A2 (fr) 2015-09-23

Family

ID=50070246

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13828764.4A Ceased EP2920779A2 (fr) 2012-11-16 2013-11-11 Procédé et dispositif de simulation et de commande combinées de véhicules télécommandés

Country Status (10)

Country Link
US (1) US20150316928A1 (fr)
EP (1) EP2920779A2 (fr)
JP (1) JP2016506528A (fr)
KR (1) KR20150073187A (fr)
CN (1) CN104823225A (fr)
CA (1) CA2890355C (fr)
DE (1) DE102012022472A1 (fr)
EA (1) EA201590837A1 (fr)
IL (1) IL238666A0 (fr)
WO (1) WO2014075655A2 (fr)

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US11087200B2 (en) 2017-03-17 2021-08-10 The Regents Of The University Of Michigan Method and apparatus for constructing informative outcomes to guide multi-policy decision making
US10564641B2 (en) 2018-07-20 2020-02-18 May Mobility, Inc. Multi-perspective system and method for behavioral policy selection by an autonomous agent
US10969470B2 (en) 2019-02-15 2021-04-06 May Mobility, Inc. Systems and methods for intelligently calibrating infrastructure devices using onboard sensors of an autonomous agent
CN110434876B (zh) * 2019-08-09 2024-03-22 南京工程学院 一种六自由度rov模拟驾驶系统及其模拟方法
EP4165476A4 (fr) 2020-07-01 2024-07-03 May Mobility Inc Procédé et système de gestion dynamique d'interventions de véhicule autonome
JP2023553980A (ja) 2020-12-14 2023-12-26 メイ モビリティー，インコーポレイテッド 自律車両安全プラットフォームシステム及び方法
WO2022133242A1 (fr) 2020-12-17 2022-06-23 May Mobility, Inc. Procédé et système de mise à jour dynamique d'une représentation environnementale d'un agent autonome
JP2024512980A (ja) 2021-04-02 2024-03-21 メイ モビリティー，インコーポレイテッド 不完全な環境情報で自律エージェントを動作させる方法及びシステム
US11565717B2 (en) 2021-06-02 2023-01-31 May Mobility, Inc. Method and system for remote assistance of an autonomous agent
US12012123B2 (en) 2021-12-01 2024-06-18 May Mobility, Inc. Method and system for impact-based operation of an autonomous agent
US11814072B2 (en) 2022-02-14 2023-11-14 May Mobility, Inc. Method and system for conditional operation of an autonomous agent
WO2024129832A1 (fr) 2022-12-13 2024-06-20 May Mobility, Inc. Procédé et système pour l'évaluation et l'atténuation des risques pouvant être rencontrés par un véhicule autonome

Citations (2)

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WO1999005580A2 (fr) * 1997-07-23 1999-02-04 Duschek Horst Juergen Procede pour controler un moyen de locomotion sans equipage et systeme de moyen de locomotion sans equipage permettant de mettre ledit procede en oeuvre
EP1094377A1 (fr) * 1999-10-22 2001-04-25 Bertrand Pittet Commande à distance d'un véhicule

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JPH08202255A (ja) * 1995-01-27 1996-08-09 Mitsubishi Heavy Ind Ltd 水中潜水船擬似体験装置
JPH09138637A (ja) * 1995-11-13 1997-05-27 Mitsubishi Heavy Ind Ltd 模擬視界装置
US5904724A (en) * 1996-01-19 1999-05-18 Margolin; Jed Method and apparatus for remotely piloting an aircraft
JP3046980U (ja) * 1997-09-08 1998-03-24 株式会社西日本流体技研 潜水艇シミュレーション装置
US7099752B1 (en) * 2003-10-27 2006-08-29 Leslie Jae Lenell Safelander
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Also Published As

Publication number Publication date
CN104823225A (zh) 2015-08-05
JP2016506528A (ja) 2016-03-03
EA201590837A1 (ru) 2015-08-31
KR20150073187A (ko) 2015-06-30
US20150316928A1 (en) 2015-11-05
AU2013347285A1 (en) 2015-06-11
CA2890355A1 (fr) 2014-05-22
CA2890355C (fr) 2017-09-26
WO2014075655A3 (fr) 2014-08-14
DE102012022472A1 (de) 2014-05-22
AU2013347285B2 (en) 2016-02-04
IL238666A0 (en) 2015-06-30
WO2014075655A2 (fr) 2014-05-22

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